A timing shutdown device of a recorder, the recorder and a robot

Abstract

The application discloses a timing shutdown device of a recorder, the recorder and a robot, and relates to the technical field of circuits, wherein the timing shutdown device of the recorder comprises a timing circuit and a shutdown circuit; the shutdown circuit is connected with the timing circuit; the timing circuit is used for starting timing in the case that the main power supply abnormally drops and outputs a control signal after timing is completed; and the shutdown circuit is used for performing shutdown control on the recorder according to the control signal output by the timing circuit. Compared with the scheme of controlling the shutdown of the recorder by software in the related art, the application can realize the shutdown of the recorder by hardware based on the hardware circuit, can start timing in the case that the main power supply abnormally drops, and can accurately perform shutdown control on the recorder after timing is completed. The application does not need software to participate in control, does not occupy system resources, and does not have the problem of abnormal risk of software control. Moreover, the application can effectively reduce the complexity of maintenance and save the maintenance cost.

Description

Technical Field

[0001] This application relates to the field of circuit technology, and in particular to a timed shutdown device for a recorder, a recorder, and a robot. Background Technology

[0002] The recorder (or black box, etc.) is a fault monitoring module on the robot, equipped with a backup battery. When the robot experiences an abnormal power loss, the recorder's power supply switches from external power (i.e., main power supply) to backup battery power, and it begins saving and recording the relevant fault information. After completing its work, the recorder needs to be turned off to prevent the backup battery from running out of power.

[0003] Currently, related technologies use software to control the recorder to power off. However, this approach increases software complexity, consumes system resources, and carries the risk of software control malfunctions. Furthermore, different requirements necessitate multiple software versions, increasing maintenance complexity. Utility Model Content

[0004] In view of this, this application provides a timed shutdown device for a recorder, a recorder, and a robot. The main objective is to address the technical problem that software-controlled recorder shutdown methods in related technologies increase software complexity, consume system resources, and pose a risk of software control malfunctions. Furthermore, different requirements necessitate multiple software versions, increasing maintenance complexity.

[0005] In a first aspect, this application provides a timed shutdown device for a recorder, comprising:

[0006] A timing circuit is used to start timing in the event of an abnormal power failure of the main power supply, and to output a control signal after timing is completed.

[0007] A shutdown circuit is connected to the timing circuit and is used to control the recorder to shut down according to the control signal.

[0008] Optionally, the timing circuit includes:

[0009] A timer chip, wherein the first pin of the timer chip is connected to the first end of the target resistor, the second end of the target resistor is grounded, and the target resistor is used to set the timing period.

[0010] Optionally, the second pin of the timer chip is connected to the power-off circuit;

[0011] The second pin of the timer chip outputs the control signal after the timing is completed.

[0012] Optionally, the timing circuit further includes:

[0013] An analog switch chip, wherein the first pin of the analog switch chip is connected to the first pin of the timer chip;

[0014] The second pin of the analog switch chip is connected to the main power supply. The analog switch chip is used to output a target level signal through the first pin when the main power supply fails. The timer chip is used to start timing according to the target level signal.

[0015] Optionally, different resistance values ​​of the target resistor correspond to different timing periods.

[0016] Optionally, the shutdown circuit includes:

[0017] An N-type metal-oxide-semiconductor field-effect transistor (NMOS), wherein the gate of the NMOS is connected to the timing circuit, and the source of the NMOS is grounded.

[0018] Optionally, the shutdown circuit further includes:

[0019] A P-type metal-oxide-semiconductor field-effect transistor (PMOS) is used, wherein the drain of the NMOS is connected to the gate of the PMOS, the source of the PMOS is connected to the input voltage terminal of the recorder, and the drain of the PMOS is connected to the system power supply terminal of the recorder.

[0020] Optionally, the gate of the NMOS is also connected to the main power supply.

[0021] Secondly, this application provides a recorder, including: a timed shutdown device for the recorder as described in the first aspect.

[0022] Thirdly, this application provides a robot, including: a recorder as described in the second aspect.

[0023] By employing the above technical solution, this application provides a timed shutdown device for a recorder, a recorder, and a robot. The timed shutdown device includes a timing circuit and a shutdown circuit, connected together. The timing circuit starts timing in the event of an abnormal power outage and outputs a control signal upon completion of the timing. The shutdown circuit controls the recorder to shut down based on the control signal output by the timing circuit. Compared to related technologies that control recorder shutdown via software, this application, based on hardware circuitry, enables hardware-controlled power-off of the recorder. This timed shutdown device can start timing in the event of an abnormal power outage and accurately control the recorder to shut down upon completion of the timing. It eliminates the need for software control, avoids consuming system resources, and eliminates the risk of software control malfunctions. Furthermore, it effectively reduces maintenance complexity and saves maintenance costs.

[0024] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0025] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This paper shows a schematic diagram of a timed shutdown device for a recorder provided in an embodiment of this application;

[0028] Figure 2 This application provides a schematic diagram of the structure of a robot according to an embodiment.

[0029] Figure 3 A flowchart illustrating an example provided in an embodiment of this application is shown;

[0030] Figure 4 A flowchart illustrating another example provided in an embodiment of this application is shown. Detailed Implementation

[0031] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0032] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0033] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0034] To address the technical issues of increasing software complexity, consuming system resources, and posing risks of software control malfunctions in related technologies that rely on software to shut down recorders, and the need for multiple software versions to control different requirements, which increases maintenance complexity, this application will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0035] The following is combined Figure 1 This application describes a timed shutdown device for a recorder provided in an embodiment.

[0036] like Figure 1 As shown in the embodiment of this application, a timed shutdown device for a recorder (or black box, etc.) includes: a timer circuit 11 and a shutdown circuit 12.

[0037] The timing circuit 11 is connected to the shutdown circuit 12, and the timing circuit 11 can be used to monitor the main power supply status. In some examples, the recorder can normally be powered by an external power source, i.e., the main power supply. When the main power supply fails, the recorder's power supply will switch from external power supply (i.e., main power supply) to backup battery power, and begin saving and recording relevant faults. For example, the recorder in a robot is equipped with a backup battery, which can normally be powered by the robot's power supply (i.e., the main power supply), but when the robot's power supply fails, the recorder's power supply will switch to backup battery power. In this embodiment, the timing circuit 11 can monitor the main power supply status. When the main power supply is normal, the timing circuit 11 is in standby mode and does not start timing; when the main power supply fails, timing starts, and after timing ends, it outputs a control signal to the shutdown circuit 12. The timing duration can be preset, and it is necessary to ensure that the recorder completes the saving and recording of relevant information within the set timing duration.

[0038] The shutdown circuit 12 can be used to control the shutdown of the recorder based on the control signal output by the timing circuit 11. For example, in a robot, the recorder is equipped with a backup battery. When the robot's main power supply fails, the recorder's power supply switches to the backup battery. At this time, the timing circuit 11 starts timing. During the timing period, the recorder saves and records relevant faults while powered by the backup battery. After the timing is completed, the shutdown circuit 12 cuts off the backup power supply to the recorder, achieving automatic shutdown.

[0039] Through the hardware collaboration of timing circuit 11 and power-off circuit 12, data can be completely preserved in the event of a main power failure without software or manual intervention, and the backup power supply can be prevented from running out, thus improving the reliability of the recorder in abnormal scenarios.

[0040] Compared to related technologies that control the recorder's shutdown via software, the embodiments of this application, based on hardware circuitry, can achieve hardware-controlled shutdown of the recorder. This timed shutdown device can start timing in the event of an abnormal power outage and accurately control the recorder to shut down upon completion of the timing. It requires no software intervention, does not consume system resources, and eliminates the risk of software control malfunctions. Furthermore, it effectively reduces maintenance complexity and saves maintenance costs.

[0041] In some embodiments, the timing circuit 11 may include a timer chip, which is the main device for implementing the timing function. The timer chip may include multiple pins, wherein a first pin of the timer chip is connected to a first end of a target resistor, and a second end of the target resistor is grounded. The target resistor is used to set the timing period. Optionally, different resistance values ​​of the target resistor correspond to different timing periods.

[0042] For example, such as Figure 1 As shown, the timer chip can be U2 in the timing circuit 11, which may include 6 pins. PIN1 and PIN2 of the timer chip are connected to the power supply and ground (GND), respectively. PIN3 of the timer chip is the timing setting pin, i.e., the first pin. Different timing times can be set through the resistance value of R4 (i.e., the target resistor). For example, a larger resistance value results in a longer timing time, and a smaller resistance value results in a shorter timing time. By changing the target resistor with different resistance values, the timing duration of the timing circuit can be flexibly adjusted to suit the needs of different recorders. If the recorder needs to save a large amount of data (such as complex fault information), a larger resistance value can be selected to extend the timing time and ensure complete data preservation; if the data volume is small, a smaller resistance value can be selected to shorten the timing time and reduce the consumption of backup power. Furthermore, in some examples, if PIN3 is high, the timing stops.

[0043] In some embodiments, the second pin of the timer chip is connected to the power-off circuit 12, and the second pin of the timer chip outputs a control signal after the timing is completed. For example, as... Figure 1 As shown, PIN5 (second pin) of the timer chip is the timer output pin, i.e., the DRV output pin. It is high before timing and low after the timer finishes timing. This control signal from high to low can be used to control the switch circuit 12, so that the switch circuit 12 controls the recorder to shut down.

[0044] In some embodiments, the timing circuit 11 further includes: an analog switch chip, the first pin of which is connected to the first pin of the timer chip; the second pin of the analog switch chip is connected to the main power supply, and the analog switch chip is used to output a target level signal through the first pin of the analog switch chip in the event of an abnormal power failure of the main power supply. Correspondingly, the timer chip is used to start timing according to the target level signal.

[0045] The analog switch chip plays a crucial role in state switching, controlling the start of the timer chip by detecting the main power supply status, ensuring that the timing function is triggered only when the main power supply is abnormal. For example, Figure 1 As shown, the analog switch chip can be U1 in the timing circuit 11. The analog switch chip can include multiple pins. The main reason for choosing an analog switch chip is that when the control pin (PIN6, the second pin of the analog switch chip) is low, the PIN1 (the first pin of the analog switch chip) is in a high-impedance state. This ensures that the PIN3 (the first pin of the timer chip) has only one pull-down resistor R4 (the target resistor) and will not be affected by other circuits, making the timing of the timer chip more accurate.

[0046] For example, such as Figure 1As shown, when the main power supply VBUS is active, the control pin (PIN6) of analog switch chip U1 is high. At this time, pins B1 and A of analog switch chip U1 are connected, and pin 3 of timer chip U2 is high, so timer chip U2 will not count. When the main power supply VBUS is de-energized, pins A and B0 of analog switch chip U1 are connected, and pin B1 is no longer high. At this time, timer chip U2 starts counting, and the counting time is determined by the resistance value of resistor R4. Before the counting is complete, the DRV output of pin 5 of timer chip U2 is high; after the counting is complete, the DRV output of pin 5 of timer chip U2 is low.

[0047] In some embodiments, the power-off circuit 12 includes an N-type metal-oxide-semiconductor field-effect transistor (NMOS), the gate (G) of which is connected to the timing circuit 11, and the source (S) of which is grounded. In some examples, the gate of the NMOS is also connected to the main power supply.

[0048] For example, such as Figure 1 As shown, in the shutdown circuit 12, the NMOS is Q2, and its gate (G) has dual connection logic. When the main power supply VBUS is active, its gate receives a high-level signal through the circuit connection, turning on the NMOS. When the main power supply VBUS is inactive, its gate is controlled by the output pin DRV of the timer chip. Before the timer chip finishes timing, DRV outputs a high level, the G of the NMOS is high, and the NMOS is on. When the timer chip finishes timing, DRV outputs a low level, the G of the NMOS is low, and the NMOS is off.

[0049] In some embodiments, the power-off circuit 12 further includes a P-type metal-oxide-semiconductor field-effect transistor (PMOS), the drain of which is connected to the gate of the PMOS, the source of which is connected to the input voltage terminal of the recorder, and the drain of which is connected to the system power supply terminal of the recorder.

[0050] For example, such as Figure 1As shown, for the shutdown circuit 12, an NMOS and a PMOS are selected to form a power switch. When the main power supply VBUS is active, the gate (G) of NMOS Q2 is high, Q2 is turned on. At the same time, the gate (G) of PMOS Q1 is low, Q1 is also turned on, and the system power supply VSYS of the recorder is equal to the input voltage VIN, so the system is powered on. When the main power supply VBUS is inactive, the gate (G) of Q2 is controlled by the output DRV of the timer chip. Before the timing is completed, DRV outputs a high level. At this time, the gate (G) of NMOS Q2 is high, Q2 is turned on, the gate (G) of PMOS Q1 is low, Q1 is also turned on, and the system remains powered on. When the timing is completed, DRV outputs a low level. At this time, the gate (G) of NMOS Q2 is low, Q2 is turned off, the gate (G) and source (S) of PMOS Q1 are at the same level, Q1 is also turned off, the system power supply VSYS of the recorder is 0, and the recorder is powered off. This completes the hardware timed shutdown function.

[0051] In some embodiments, the timing circuit 11 and the power-off circuit 12 provided in this application may also include some other components. Through the cooperation of these components, the recorder is ensured to work stably under normal and abnormal main power conditions, realizing the complete functions from power detection, timing control to power switch.

[0052] For example, such as Figure 1 As shown, R1 and R2 form a voltage divider circuit to detect the voltage status of the main power supply VBUS. The divided voltage signal can be sensed by other circuit components (such as the control pin of the analog switch) to determine whether the main power supply is normal. For example, when the main power supply VBUS is present, the divided voltage will cause the control pin of the analog switch to be in an appropriate level state to control the conduction direction of the analog switch. R3 serves as a pull-up resistor for the DRV pin of the timer chip. When the timer does not output a valid signal, this resistor pulls the level of the DRV pin high, ensuring that the DRV pin remains high during the timing process until the timer finishes timing and outputs a low level.

[0053] like Figure 1 As shown, R4 is used to set the timing period of the timer chip. The timer chip determines the timing period based on the resistance value of this resistor; different resistance values ​​correspond to different timing durations, thus achieving configurable timing. R5 serves as the gate resistor for NMOS transistor Q2, limiting the current flowing into the NMOS transistor's gate to prevent excessive current from damaging the device. It also helps stabilize the switching state of the NMOS transistor and reduce electromagnetic interference. Resistors R7 and R8 form a voltage divider circuit, providing appropriate bias voltages for PMOS transistors Q1 and NMOS transistors Q2, ensuring that their voltage levels meet design requirements during normal operation and stabilizing the transistor's operating point.

[0054] like Figure 1As shown, C1 and C2 act as filter capacitors, used to remove high-frequency noise from the power supply, providing a stable power supply voltage for the timer chip and analog switch chip, ensuring the stability of chip operation, and preventing power fluctuations from interfering with the internal circuitry of the chip. CR1 and CR2 are diodes, whose function is to clamp the voltage within a safe range when transient voltage surges occur in the circuit, protecting downstream components such as transistors from damage by excessively high voltages. For example, when a voltage spike occurs in the system power supply, CR1 and CR2 can quickly conduct, dissipating excess energy and maintaining circuit stability.

[0055] Furthermore, embodiments of this application also provide a recorder, including: as Figure 1 The example illustrates a timed shutdown device in a recorder. This device starts timing in the event of an abnormal power outage and accurately shuts down the recorder upon completion of the timing. It requires no software intervention, consumes no system resources, and eliminates the risk of software-related malfunctions. Furthermore, it effectively reduces maintenance complexity and saves on maintenance costs.

[0056] Based on the aforementioned recorder, this application also provides a robot, such as... Figure 2 As shown, the robot includes the aforementioned recorder. The robot in this embodiment can be an industrial robot, service robot, medical robot, educational robot, agricultural robot, etc., and this embodiment does not specifically limit it.

[0057] A robot's data recorder (or black box, etc.) is an important device installed on a robot to record its motion data, status information, and the causes of malfunctions or accidents. Similar to a black box on an airplane, it provides valuable data support in the event of an accident, helping engineers and analysts understand the cause of the incident, optimize robot design, and improve the robot's safety and reliability.

[0058] In some embodiments, the recorder is a fault monitoring module on the robot. The module is equipped with a backup battery. When the robot is working normally, the recorder is powered externally (by the main power supply) and can charge the backup battery. When the robot experiences an abnormal power outage, the recorder switches from external power to the internal backup battery and begins saving and recording relevant faults. After completing its work, the recorder needs to be powered off to prevent the backup battery from running out of power. One option is to manually power off the robot using a physical button. The main disadvantages are the need for a physical button, which affects the appearance; the requirement for manual operation, which consumes manpower; and the risk of improper operation or omission. Another option is to power off the robot via software control. The main disadvantages are increased software complexity, higher system resource consumption, and the risk of software control malfunctions. Furthermore, different requirements necessitate multiple software versions, increasing maintenance complexity.

[0059] Therefore, this solution can achieve timed shutdown entirely through hardware circuitry, eliminating the need for manual operation and software control. This overcomes the shortcomings of the aforementioned solutions and ensures system reliability. For example, ... Figure 3 As shown, the circuit detects whether the external power supply (main power supply) voltage is normal. When the external power supply is normal, the system is powered by the external power supply, and the timer does not work. When the external power supply is abnormal, it immediately switches to backup battery power, and the timer starts counting. After the countdown is complete, the system powers off. This ensures that the recorder can save data without wasting backup battery power during abnormal power loss.

[0060] For example, such as Figure 4 As shown, the external power supply is the basic power input for the entire system, providing power to subsequent circuits, such as powering the robot during normal operation. The power management circuit is responsible for monitoring the status of the external power supply (determining if there is a power failure, etc.) and managing the backup battery, such as charging the backup battery and switching to the backup battery for power in case of an anomaly. This solution mainly includes a timer switch circuit. The main function of the timer circuit is that it does not operate when the external power supply is on, but starts timing when the external power supply fails. After timing is completed, it outputs a control signal to the switch circuit. The switch circuit can control the power supply and power-off of the recorder system according to the control signal.

[0061] This solution allows for adjustable timing to enable timed shutdown. The timed shutdown function is entirely hardware-based, eliminating the need for manual operation and preventing human error or omissions, thus enhancing system reliability and consistency. Furthermore, it eliminates the need for software control, reducing software workload. It is also easy to maintain and upgrade; the shutdown time can be modified simply by changing the resistor value, facilitating future modifications and changes.

[0062] Those skilled in the art will understand that the physical device structure provided in this embodiment does not constitute a limitation on the physical device, and may include more or fewer components, or combine certain components, or have different component arrangements.

[0063] Compared to related technologies that control the recorder's shutdown via software, the solution in this application, based on hardware circuitry, enables hardware-controlled shutdown of the recorder. This timed shutdown device can start timing in the event of an abnormal power outage and accurately shut down the recorder upon completion of the timing. It eliminates the need for software control, avoids consuming system resources, and eliminates the risk of software control malfunctions. Furthermore, it effectively reduces maintenance complexity and saves maintenance costs. Since the timed shutdown function is entirely hardware-based, requiring no manual operation, it avoids human error and omissions, making the system more reliable and ensuring excellent consistency.

[0064] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0065] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A timed shutdown device for a recorder, characterized in that, include: A timing circuit is used to start timing in the event of an abnormal power failure of the main power supply, and to output a control signal after timing is completed. A shutdown circuit is connected to the timing circuit and is used to control the recorder to shut down according to the control signal.

2. The timed shutdown device according to claim 1, characterized in that, The timing circuit includes: A timer chip, wherein the first pin of the timer chip is connected to the first end of the target resistor, the second end of the target resistor is grounded, and the target resistor is used to set the timing period.

3. The timed shutdown device according to claim 2, characterized in that, The second pin of the timer chip is connected to the power-off circuit; The second pin of the timer chip outputs the control signal after the timing is completed.

4. The timed shutdown device according to claim 3, characterized in that, The timing circuit also includes: An analog switch chip, wherein the first pin of the analog switch chip is connected to the first pin of the timer chip; The second pin of the analog switch chip is connected to the main power supply. The analog switch chip is used to output a target level signal through the first pin when the main power supply fails. The timer chip is used to start timing according to the target level signal.

5. The timed shutdown device according to claim 2, characterized in that, The different resistance values ​​of the target resistor correspond to different timing periods.

6. The timed shutdown device according to claim 1, characterized in that, The shutdown circuit includes: The gate of the N-type metal-oxide-semiconductor field-effect transistor (NMOS) is connected to the timing circuit, and the source of the NMOS is grounded.

7. The timed shutdown device according to claim 6, characterized in that, The shutdown circuit also includes: The P-type metal-oxide-semiconductor field-effect transistor (PMOS) has its gate connected to the drain of the NMOS, its source connected to the input voltage terminal of the recorder, and its drain connected to the system power supply terminal of the recorder.

8. The timed shutdown device according to claim 7, characterized in that, The gate of the NMOS is also connected to the main power supply.

9. A recorder, characterized in that, include: The timed shutdown device as described in any one of claims 1 to 8.

10. A robot, characterized in that, include: The recorder as described in claim 9.

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