CN111788489B - Robot control system, power supply monitoring method, robot and storage device - Google Patents
Robot control system, power supply monitoring method, robot and storage device Download PDFInfo
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- CN111788489B CN111788489B CN201880087181.2A CN201880087181A CN111788489B CN 111788489 B CN111788489 B CN 111788489B CN 201880087181 A CN201880087181 A CN 201880087181A CN 111788489 B CN111788489 B CN 111788489B
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Abstract
The robot control system comprises a main circuit switch (101), an alternating current-direct current conversion circuit (102) and a main control circuit (103), wherein: the main circuit switch (101) is used for receiving an alternating current signal provided by external equipment and outputting the alternating current signal when the main circuit switch (101) is closed; the input end of the alternating current-direct current conversion circuit (102) is connected with the main circuit switch (101) and is used for converting an alternating current electric signal into a direct current electric signal and outputting the direct current electric signal, wherein the alternating current-direct current conversion circuit (102) comprises a first output end and a second output end, the first output end is connected with the main control circuit (103) so as to output a first detection signal to the main control circuit (103), and the second output end is connected with the main control circuit (103) through the main circuit switch so as to output a second detection signal to the main control circuit (103) through the main circuit switch (101); the main control circuit (103) is used for determining the power failure reason of the robot control system by utilizing the level conversion sequence of the first detection signal and the second detection signal, so that the use safety of the robot can be improved.
Description
Technical Field
The present disclosure relates to the field of robots, and in particular, to a robot control system, a power monitoring method, a robot, and a storage device.
Background
At present, the power supply grid of the industrial robot has the possibility of power interruption, and meanwhile, the risk of power failure exists in the factory environment, for example, in the running process of the robot, a certain circuit under the same power supply network is short-circuited, so that the main circuit trips, the power supply of the main circuit is manually recovered after the fault is removed, and the robot is powered on again.
However, the existing industrial robot control system cannot distinguish between a manual interruption and an external power interruption, so that under the working condition that external accidental power failure is carried out for a certain period and the external power failure is recovered, the robot stops running, and a user serving as the robot cannot judge the reason that the robot is in the state, so that the maintenance of the robot is not facilitated.
Disclosure of Invention
The application provides a robot control system, a power monitoring method, a robot and a storage device, which can solve the problem that the power failure reason of the robot control system cannot be determined in the prior art.
In order to solve the above problems, a first technical solution adopted in the present application is: the utility model provides a robot control system, including main circuit switch, alternating current-direct current conversion circuit and main control circuit, wherein: the main circuit switch is used for receiving an alternating current signal provided by external equipment and outputting the alternating current signal when the main circuit switch is closed; the input end of the alternating current-direct current conversion circuit is connected with the main circuit switch and is used for converting an alternating current electric signal into a direct current electric signal and outputting the direct current electric signal, wherein the alternating current-direct current conversion circuit comprises a first output end and a second output end, the first output end is connected with the main control circuit so as to output a first detection signal to the main control circuit, and the second output end is connected with the main control circuit through the main circuit switch so as to output a second detection signal to the main control circuit through the main circuit switch; the main control circuit is used for receiving the first detection signal and the second detection signal so as to determine the power-off reason of the robot control system by utilizing the level conversion sequence of the first detection signal and the second detection signal when the robot control system is powered off and shut down.
In order to solve the above problems, a second technical scheme adopted in the present application is: provided is a power supply monitoring method, including: the main control circuit receives a first detection signal and a second detection signal; determining a power failure reason of the robot control system by using the level conversion sequence of the first detection signal and the second detection signal; the power supply monitoring method is applied to a robot control system, and the robot control system comprises: the alternating current-direct current conversion circuit comprises a first output end and a second output end, wherein the first output end is connected with the main control circuit so as to output a first detection signal to the main control circuit, and the second output end is connected with the main control circuit through the main circuit switch so as to output a second detection signal to the main control circuit through the main circuit switch.
In order to solve the above problem, a third technical solution adopted in the present application is: there is provided a robot comprising a robot control system as described above.
In order to solve the above problem, a fourth technical solution adopted in the present application is: there is provided a storage device in which a program is stored, the program being executed to implement the power supply monitoring method as described above.
The beneficial effects of this application are: in some embodiments of the present application, the master control circuit receives the first detection signal and the second detection signal, where the first detection signal does not pass through the master circuit switch, and the second detection signal passes through the master circuit switch, so that a level conversion sequence of the first detection signal and the second detection signal is different when the master circuit switch is disconnected and the external power is accidentally turned off, and therefore, a power-off reason of the robot control system can be determined when the robot control system is powered off, so that a user of the robot control system or the robot can learn the power-off reason of the robot, and the use safety of the robot is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a first embodiment of a robotic control system of the present application;
FIG. 2 is a schematic diagram of level shifting of a first detection signal and a second detection signal in the robot control system of FIG. 1, both when a main circuit switch is turned off and when an external power is accidentally turned off;
FIG. 3 is a schematic view of a second embodiment of the robotic control system of the present application;
FIG. 4 is a schematic diagram of level shifting of the first detection signal and the second detection signal in the robot control system shown in FIG. 3, both when the main circuit switch is turned off and when the external power is accidentally turned off;
FIG. 5 is a schematic view of a third embodiment of a robotic control system of the present application;
FIG. 6 is a schematic diagram of level shifting of the first detection signal and the second detection signal in both the case where the main circuit switch is turned off and the case where the external power is accidentally turned off in the robot control system shown in FIG. 5;
FIG. 7 is a schematic flow chart of a first embodiment of the power monitoring method of the present application;
FIG. 8 is a schematic diagram showing a specific flow of step S12 in FIG. 7;
FIG. 9 is a flow chart of a second embodiment of the power monitoring method of the present application;
FIG. 10 is a flow chart of a third embodiment of the power monitoring method of the present application;
FIG. 11 is a flow chart of a fourth embodiment of the power monitoring method of the present application;
FIG. 12 is a schematic flow chart of a fifth embodiment of a power monitoring method of the present application;
FIG. 13 is a schematic view of a configuration of an embodiment of the robot of the present application;
FIG. 14 is a schematic diagram of an embodiment of a memory device of the present application.
Detailed Description
The present application is described in detail below with reference to the accompanying drawings and examples.
As shown in fig. 1, a first embodiment of a robot control system 10 of the present application includes:
a main circuit switch 101 for receiving an ac electrical signal provided from an external device and outputting the ac electrical signal when the main circuit switch 101 is closed;
the main circuit switch 101 may be a single-pole multi-throw switch or a multi-pole multi-throw switch, so long as when the main circuit switch 101 is manually turned off, the lines connected to the main circuit switch 101 may be simultaneously turned off, and the specific switch type may depend on the actual circuit connection requirement, which is not specifically limited herein. The ac signal provided by the external device (not shown) may be 220VAC ac, or 110VAC, etc., depending mainly on the actual grid power supply standard.
The ac/dc conversion circuit 102, an input terminal I of the ac/dc conversion circuit 102 is connected to the main circuit switch 101, and is used for converting an ac electric signal into a dc electric signal and outputting the dc electric signal, wherein the ac/dc conversion circuit 102 includes a first output terminal A1 and a second output terminal A2, the first output terminal A1 is connected to the main circuit 103, and does not pass through the main circuit switch 101, so as to output a first detection signal power_in to the main circuit 103, and the second output terminal A2 is connected to the main circuit 103 through the main circuit switch 101, so as to output a second detection signal power_off to the main circuit 103 through the main circuit switch 101.
Specifically, as shown in fig. 1, in one application example, after the input I of the ac/dc conversion circuit 102 receives the 220VAC ac power passing through the main circuit switch 101, the ac/dc conversion circuit 102 converts the 220VAC ac power into a 24VDC dc signal, and transmits the 24VDC dc signal to the main control circuit 103. The first detection signal power_in output by the first output terminal A1 of the ac/dc conversion circuit 102 is directly input to the main control circuit 103, and the 24VDC dc signal output by the second output terminal A2 of the ac/dc conversion circuit 102 is required to pass through the main circuit switch 101 to form a second detection signal management_off before being input to the main control circuit 103. Of course, in other application examples, the dc signal output by the ac/dc conversion circuit 102 can be converted into 10VDC, 50VDC, etc. according to the specific requirements, which is not limited herein.
The master circuit 103 is configured to receive the first detection signal power_in and the second detection signal manual_off, so as to determine a Power failure reason of the robot control system 10 by using a level conversion sequence of the first detection signal power_in and the second detection signal manual_off when the robot control system 10 is powered off and turned off.
Specifically, in conjunction with fig. 2, in the above application example, the master circuit 103 may periodically detect the first detection signal power_in and the second detection signal power_off for a preset detection time, for example, polling detection is performed with a period of 10ms, and it is determined that the first detection signal power_in and the second detection signal power_off have a level conversion sequence, when the master circuit switch 101 is turned off, since the second detection signal power_off is input to the master circuit 103 after passing through the master circuit switch 101, the second detection signal power_off is converted from a transient high level to a low level, for example, from a high level to a low level at a dotted line position shown In fig. 2, and the first detection signal power_in has a larger capacitor inside the ac/dc conversion circuit 102, and the capacitor discharges for a period of time, so that after the 220 ac Power input to the ac/dc conversion circuit 102 is reduced to 0V, the ac/dc conversion circuit 102 is maintained at a voltage level of typically less than 200ms (200 ms is lower than 200 ms). Therefore, when the second detection signal power_off is first switched from the high level to the low level and the first detection signal power_in is switched from the high level to the low level after the first preset time (200 to 1000 ms) elapses, the main control circuit 103 determines that the Power-off cause of the robot control system 10 is that the main circuit switch is turned off, i.e., normally turned off.
With continued reference to fig. 1 and fig. 2, in the above application example, when the Power is interrupted due to unexpected Power failure, the main circuit switch 101 is kept In a closed state, and then 24VDC dc Power output from the ac/dc conversion circuit 102 can be input to the main control circuit 103, and at this time, the first detection signal power_in and the second detection signal power_off can be maintained for more than 200ms (usually less than 1 second, i.e. 200-1000 ms) from high level to low level due to the Power storage function of the larger capacitor inside the ac/dc conversion circuit 102. Accordingly, when the first detection signal power_in and the second detection signal power_off are simultaneously shifted from the high level to the low level, the main control circuit 103 determines that the cause of the Power-off of the robot control system 10 is an external unexpected Power-off.
In this application example, the preset detection time for periodically polling and detecting the first detection signal power_in and the second detection signal power_off by the master circuit 103 may comprehensively consider the detection efficiency and the Power consumption, and a suitable time period is selected, which is not specifically limited herein. Wherein, optionally, the main control circuit 103 may record the power-off reason detected each time into a log file, so as to facilitate the user to query the power-off reason of the robot. In addition, when the robot control system is started, the main control circuit 103 can display the power-off reason in log information, so that a user can more intuitively know the power-off reason of the robot, and the processing and maintenance of the robot are facilitated for the user.
In summary, in this embodiment, since the first detection signal does not pass through the main circuit switch, and the second detection signal passes through the main circuit switch, so that the level conversion sequence of the first detection signal and the second detection signal is different between when the main circuit switch is turned off and when the outside is accidentally powered off, the main control circuit can determine the power-off reason of the robot control system when the robot control system is powered off through the level conversion sequence of the first detection signal and the second detection signal, so that the robot control system or a user of the robot can learn the power-off reason of the robot, thereby performing targeted processing or maintenance, and improving the use safety of the robot.
In other embodiments, the robotic control system may also include a relay device such as an ac relay.
As shown in fig. 3, a second embodiment of the robot control system 20 of the present application includes: a main circuit switch 101, an ac-dc conversion circuit 102, a main control circuit 103 and a delay switch device 104. As shown in fig. 1 and 3, the robot control system 20 of the present embodiment is similar to the structure of the first embodiment of the robot control system 10 of the present application, and the similar structure is not described here, except that the robot control system 20 of the present embodiment further includes: and a delay switch device 104, wherein the delay switch device 104 is respectively connected with the main control circuit 103 and the first output end A1 of the AC/DC conversion circuit 102, and the DC electric signal output by the first output end A1 is used as a first detection signal and is output to the main control circuit 103 through the delay switch device 104.
The delay switch device 104 may employ a specific element according to actual requirements, for example, an ac relay or a dc relay, and the specific delay time is set according to the specific element, which is not limited herein. In this embodiment, a dc relay is described as an example.
Specifically, as shown in fig. 3, in an application example, the dc relay 104 may be a 24V dc relay, that is, the dc relay is controlled by a 24V dc power source, such as 24V dc output by the ac/dc conversion circuit 10 in fig. 3. Of course, in other embodiments, the dc relay 104 may also be controlled by other external dc power sources, which is not specifically limited herein. The dc relay 104 includes a first control end C1, a first end D1, and a second end D2, wherein the first control end C1 is connected to the first output end A1 of the ac-dc conversion circuit 102, the first end D1 is also connected to the first output end A1 of the ac-dc conversion circuit 102, and the second end D2 is connected to the main control circuit 103.
In this embodiment, the master circuit 103 may also determine the Power-off reason of the robot control system 20 according to the level transition sequence of the first detection signal power_in and the second detection signal power_off. However, since the dc relay 104 is connected between the main control circuit 103 and the first output terminal A1 of the ac/dc conversion circuit 102, a coil is present In the dc relay 104, and a certain reaction time is required after the coil is powered down, the line between the main control circuit 103 and the first output terminal A1 of the ac/dc conversion circuit 102 is disconnected, and therefore, the level conversion sequence of the first detection signal power_in and the second detection signal power_off is different from the signal timing chart In fig. 2. The reaction time after the power failure of the coil is determined according to factors such as the number of turns of the coil, and is usually 10 to 100ms, and 10 to 80ms is taken as an example in this embodiment.
In particular, as shown In fig. 3 and fig. 4, in an application example, the dc relay 104 uses 24V dc Power passing through the ac-dc conversion circuit 102 as a control Power source, the main control circuit 103 periodically detects the first detection signal power_in and the second detection signal power_off, when the main circuit switch 101 is turned off, since the second detection signal power_off is input to the main control circuit 103 after passing through the main circuit switch 101, the second detection signal power_off is instantaneously converted from high level to low level, for example, as shown In fig. 4, from high level to low level at a dotted line position, while the first detection signal power_in does not pass through the main circuit switch 101, but passes through the ac-dc conversion circuit 102 and the dc relay 104, and the larger capacitor inside the ac-dc conversion circuit 102 has a storage function, so that the dc Power output at the A1 end can drop from high level to low level (usually less than 1 second, i.e. 200-1000 ms), and at the same time when the dc relay 104 has a coil, the reaction time of the coil is 10ms after passing through the main control circuit 102-dc relay 104, and the step-down time is required to be reduced from high level to low level, for example, as shown In fig. 4, and the ac-dc signal Power is input from low level to the main control circuit 210 to low level, and the ac-dc signal is converted from 10ms to 80ms after the step-down at the time of the dc signal is converted from the low level to the first signal to the dc Power level, and the ac-dc signal is converted to the low level, and the ac signal is converted to the signal is converted to 80, and the high signal, and the high voltage is converted to the high voltage. Therefore, when the second detection signal make_off transitions from the high level to the low level and the third preset time (210 to 1080 ms) elapses, the main control circuit 103 determines that the cause of the Power-off of the robot control system 20 is that the main circuit switch 101 is turned off. With continued reference to fig. 3 and fig. 4, in the above application example, when the Power is interrupted due to unexpected Power failure, the main circuit switch 101 is kept In a closed state, and then 24VDC dc Power output from the ac/dc conversion circuit 102 can be input to the main control circuit 103, at this time, due to the Power storage function of the larger capacitor inside the ac/dc conversion circuit 102, the second detection signal power_off can be maintained for more than 200ms (usually less than 1 second, i.e. 200-1000 ms) and then falls from high level to low level, and since the 24VDC dc Power input to the dc relay 104 is reduced to 0V, the dc relay 104 needs to react for 10-80 ms to break the line between the ac/dc conversion circuit 102 and the main control circuit 103, i.e. after the second detection signal power_off falls to low level, the first detection signal power_in also needs to fall from high level to low level after 10-80 ms. Therefore, the second detection signal power_off falls from the high level to the low level first, and after 10 to 80ms, the first detection signal power_in falls from the high level to the low level, that is, when the second detection signal power_off transitions from the high level to the low level and after the second preset time (10 to 80 ms) passes, the main control circuit 103 determines that the Power-off cause of the robot control system 20 is an external unexpected Power-down.
In other application examples, the dc relay 104 may be a 36V dc relay, etc., and may be specifically determined according to the output voltage of the ac/dc conversion circuit, which is not specifically limited herein.
As shown in fig. 5, the third embodiment of the robot control system 30 of the present application is similar to the second embodiment of the robot control system 20 of the present application in structure, except that in the present embodiment, the delay switch device adopts an ac relay 105, the ac relay 105 includes a second control terminal C2, a third terminal B1, a fourth terminal B2 and a fifth terminal B3, the second control terminal C2 is connected to the main circuit switch 101, the third terminal B1 is connected to the first output terminal A1 of the ac/dc conversion circuit 102, the fourth terminal B2 is connected to the main control circuit 103, and the fifth terminal B3 is connected to the input terminal I of the ac/dc conversion circuit 102.
In this embodiment, the master circuit 103 may determine the Power-off cause process of the robot control system 30 according to the level transition sequence of the first detection signal power_in and the second detection signal power_off.
Specifically, as shown In fig. 5 and 6, in an application example, the ac relay 105 uses 220V ac Power passing through the main circuit switch 101 as a control Power source, the main circuit 103 periodically detects the first detection signal power_in and the second detection signal manual_off, when the main circuit switch 101 is turned off, since the second detection signal manual_off is input to the main circuit 103 after passing through the main circuit switch 101, the second detection signal manual_off is instantaneously switched from high level to low level, for example, the first detection signal power_in is switched from high level to low level In a dotted line position shown In fig. 6, but passes through the ac relay 105, a coil is present In the ac relay 105, and the reaction time after the coil is turned off is 10-80 ms, so that after the 220VAC Power input to the ac relay 105 is reduced to 0V, the ac relay 105 still needs to react 10-80 ms before the ac relay 105 is turned off from high level to low level, for example, the first detection signal power_in needs to be dropped from high level to 80ms between the ac relay 103 and the main circuit 102. Therefore, when the second detection signal make_off transitions from the high level to the low level and the first preset time (10 to 80 ms) elapses, the main control circuit 103 determines that the cause of the Power-off of the robot control system 20 is that the main circuit switch 101 is turned off.
With continued reference to fig. 5 and fig. 6, in the above application example, when the Power is interrupted due to unexpected Power failure, the main circuit switch 101 is kept In a closed state, then 24VDC dc Power output from the second output terminal A2 of the ac/dc conversion circuit 102 can be input to the main control circuit 103, at this time, due to the Power storage function of the larger capacitor inside the ac/dc conversion circuit 102, the second detection signal management_off can be maintained to fall from high level to low level for more than 200ms (usually less than 1 second, i.e., 200-1000 ms), and since the 220VAC ac Power input to the ac relay 105 is reduced to 0V, the ac relay 105 needs to react for 10-80 ms to break the line between the ac/dc conversion circuit 102 and the main control circuit 103, i.e., the first detection signal power_in needs to fall from high level to low level after 10-80 ms is required to pass through after unexpected Power failure. Therefore, the first detection signal power_in drops from the high level to the low level first, the second detection signal power_off drops to the low level only after at least 120ms (120-990 ms) after the first detection signal power_in drops to the low level, that is, when the first detection signal power_in transitions from the high level to the low level and the fourth preset time (120 ms-990 ms) passes, the main control circuit 103 determines that the Power failure cause of the robot control system 20 is an external unexpected Power failure.
As shown in fig. 7, a first embodiment of the power supply monitoring method of the present application includes:
s10: the main control circuit receives a first detection signal and a second detection signal;
s12: and determining the power failure reason of the robot control system by using the level conversion sequence of the first detection signal and the second detection signal.
As shown in fig. 1, the power monitoring method may be applied to a robot control system 10, where the robot control system 10 includes: the input end I of the AC/DC conversion circuit 102 is connected with the main circuit switch 101 and is used for converting an AC signal passing through the main circuit switch 101 into a DC signal and outputting the DC signal, wherein the AC/DC conversion circuit 102 comprises a first output end A1 and a second output end A2, the first output end A1 is connected with the main circuit switch 103 and does not pass through the main circuit switch 101 so as to output a first detection signal to the main circuit 103, and the second output end A2 is connected with the main circuit 103 through the main circuit switch 101 so as to output a second detection signal to the main circuit 103 through the main circuit switch 101.
Optionally, for the robot control system shown in fig. 1, as shown in fig. 8, step S12 further includes:
s121: judging whether the second detection signal is converted from a high level to a low level or not, and after a first preset time, judging whether the first detection signal is converted from the high level to the low level or not;
s122: if the judgment result is yes, the main control circuit determines that the power failure reason of the robot control system is that the main circuit switch is disconnected.
Optionally, for the robot control system shown in fig. 1, step S12 further includes:
s123: judging whether the first detection signal and the second detection signal are simultaneously converted from high level to low level;
s124: if the judgment result is yes, the main control circuit determines that the power-off reason of the robot control system is external accidental power-off.
The specific determination process of steps S121 to S124 may refer to the content of the first embodiment of the robot control system and the signal timing diagram shown in fig. 2, and is not repeated here. The steps S121 to S122 and S123 to S124 may be performed simultaneously.
In this embodiment, since the first detection signal does not pass through the main circuit switch, and the second detection signal passes through the main circuit switch, so that the level conversion sequence of the first detection signal and the second detection signal is different between when the main circuit switch is turned off and when external power is accidentally turned off, the main control circuit can determine the power-off reason of the robot control system when the robot control system is powered off through the level conversion sequence of the first detection signal and the second detection signal, so that the robot control system or a user of the robot can learn the power-off reason of the robot, thereby performing targeted processing or maintenance, and improving the use safety of the robot.
As shown in fig. 9, in a second embodiment of the power supply monitoring method of the present application, based on the first embodiment of the power supply monitoring method of the present application, for the robot control system shown in fig. 3, step S12 further includes:
s125: judging whether the second detection signal is converted from a high level to a low level or not, and after a second preset time, judging whether the first detection signal is converted from the high level to the low level or not;
s126: if the judging result is yes, the main control circuit determines that the power-off reason of the robot control system is external accidental power-off;
s127: otherwise, judging whether the second detection signal is converted from the high level to the low level, and after a third preset time, judging whether the first detection signal is converted from the high level to the low level;
s128: if the judgment result is yes, the main control circuit determines that the power failure reason of the robot control system is that the main circuit switch is disconnected.
The specific determination process of steps S125 to S128 may refer to the content of the second embodiment of the robot control system and the signal timing chart shown in fig. 4, and is not repeated here. The determination sequence of steps S125 to S126 and S127 to S128 may be changed or may be performed simultaneously.
As shown in fig. 10, a third embodiment of the power supply monitoring method of the present application is based on the first embodiment of the power supply monitoring method of the present application, and step S12 further includes, for the robot control system shown in fig. 5:
s129: judging whether the first detection signal is converted from a high level to a low level or not, and after a fourth preset time, judging whether the second detection signal is converted from the high level to the low level or not;
s130: if the judgment result is yes, the main control circuit determines that the power failure reason of the robot control system is external accidental power failure.
The specific determination process of steps S129 to S130 may refer to the content of the third embodiment of the robot control system and the signal timing chart shown in fig. 6, and is not repeated here.
As shown in fig. 11, a fourth embodiment of the power supply monitoring method of the present application is based on any one of the first to third embodiments of the power supply monitoring method of the present application, and step S12 further includes:
s120: the main control circuit periodically detects the level conversion sequence of the first detection signal and the second detection signal according to preset detection time so as to determine the power-off reason of the robot control system.
The preset detection time is a preset time period for the main control circuit to poll and monitor the level conversion sequence of the first detection signal and the second detection signal, and the specific value of the preset detection time can comprehensively consider the detection efficiency and the power consumption, and a proper time period (such as 15ms or 10 ms) is selected, which is not particularly limited herein.
As shown in fig. 12, a fifth embodiment of the power supply monitoring method of the present application is based on any one of the first to fourth embodiments of the power supply monitoring method of the present application, and after step S12, further includes:
s13: when the robot control system is powered off and shut down, the main control circuit records the power-off reason into a log file;
s14: and when the robot control system is started, displaying the power-off reason in log information.
Specifically, the main control circuit records the power-off reason detected each time into the log file, so that a user can conveniently inquire the power-off reason of the robot, and meanwhile, the main control circuit displays the power-off reason in log information when a robot control system is started, so that the user can more intuitively know the power-off reason of the robot, and the processing and maintenance of the user are facilitated.
In other embodiments, this step S14 may not be performed, and the user may directly query the log file for the reason of power outage.
As shown in fig. 13, an embodiment of a robot 80 of the present application includes: the robot control system 801, wherein the robot control system 801 may refer to the structure of any one of the first to third embodiments of the robot control system of the present application, and is not repeated here.
In other embodiments, the robot 80 may further include other components such as a display device, an input/output device, and the like, which are not specifically limited herein.
In this embodiment, since the first detection signal does not pass through the main circuit switch, and the second detection signal passes through the main circuit switch, so that the level conversion sequence of the first detection signal and the second detection signal is different between when the main circuit switch is turned off and when external power is accidentally turned off, the main control circuit of the robot control system can determine the power-off reason of the robot when the robot is turned off through the level conversion sequence of the first detection signal and the second detection signal, and further the user of the robot can learn the power-off reason of the robot, so that the processing or maintenance can be performed in a targeted manner, and the use safety of the robot is improved.
As shown in fig. 14, in an embodiment of the storage device of the present application, a program 901 is stored in the storage device 90, and the program 901 when executed implements the method provided by any one of the first to fifth embodiments and any non-conflicting combination of the power monitoring methods of the present application.
The storage device 90 may be a portable storage medium, such as a usb disk, an optical disc, a server, a mobile terminal, a robot, or a separate component that may be integrated in the above device, such as a main control chip, etc.
In this embodiment, when the program stored in the storage device is executed, since the first detection signal does not pass through the main circuit switch, and the second detection signal passes through the main circuit switch, so that the level conversion sequence of the first detection signal and the second detection signal is different between when the main circuit switch is turned off and when the outside is accidentally powered off, the main control circuit of the robot control system can determine the power-off reason of the robot when the robot is powered off and powered off, and further, the user of the robot is enabled to learn the power-off reason of the robot, so as to perform targeted processing or maintenance, and improve the use safety of the robot.
The foregoing description is only of embodiments of the present application, and is not intended to limit the scope of the patent application, and all equivalent structures or equivalent processes using the descriptions and the contents of the present application or other related technical fields are included in the scope of the patent application.
Claims (21)
1. The robot control system is characterized by comprising a main circuit switch, an alternating current-direct current conversion circuit, a time delay switching device and a main control circuit, wherein:
the main circuit switch is used for receiving an alternating current signal provided by external equipment and outputting the alternating current signal when the main circuit switch is closed;
the input end of the alternating current-direct current conversion circuit is connected with the main circuit switch and is used for converting the alternating current signal into a direct current signal and outputting the direct current signal, wherein the alternating current-direct current conversion circuit comprises a first output end and a second output end, the first output end is connected with the main control circuit so as to output a first detection signal to the main control circuit, and the second output end is connected with the main control circuit through the main circuit switch so as to output a second detection signal to the main control circuit through the main circuit switch;
the delay switch device is respectively connected with the main control circuit and the first output end of the alternating current-direct current conversion circuit, and the direct current signal output by the first output end is used as the first detection signal and is output to the main control circuit through the delay switch device;
the main control circuit is used for receiving the first detection signal and the second detection signal so as to determine the power-off reason of the robot control system by utilizing the level conversion sequence of the first detection signal and the second detection signal when the robot control system is powered off and shut down;
the delay switch device is a direct current relay, the direct current relay comprises a first control end, a first end and a second end, the first control end is connected with a first output end of the alternating current-direct current conversion circuit, the first end is connected with the first output end of the alternating current-direct current conversion circuit, and the second end is connected with the main control circuit;
the main control circuit is specifically used for: when the second detection signal is converted from a high level to a low level and the first detection signal is converted from the high level to the low level after a second preset time, the main control circuit determines that the power-off reason of the robot control system is external accidental power-off; when the second detection signal is converted from a high level to a low level and a third preset time elapses, the main control circuit determines that the power failure cause of the robot control system is that the main circuit switch is turned off;
or the delay switching device is an alternating current relay, the alternating current relay comprises a second control end, a third end, a fourth end and a fifth end, the second control end is connected with the main circuit switch, the third end is connected with the first output end of the alternating current-direct current conversion circuit, the fourth end is connected with the main control circuit, and the fifth end is connected with the input end of the alternating current-direct current conversion circuit;
the main control circuit is specifically used for: when the first detection signal is converted from a high level to a low level and the second detection signal is converted from the high level to the low level after a fourth preset time, the main control circuit determines that the power-off reason of the robot control system is external accidental power-off.
2. The system according to claim 1, wherein the master circuit is further specifically configured to:
when the second detection signal is converted from a high level to a low level and a first preset time elapses, the main control circuit determines that the power-off cause of the robot control system is that the main circuit switch is turned off.
3. The system of claim 2, wherein the first preset time range is: 10-80 ms or 200-1000 ms.
4. The system according to claim 1, wherein the master circuit is further specifically configured to:
when the first detection signal and the second detection signal are simultaneously converted from a high level to a low level, the main control circuit determines that the power-off reason of the robot control system is an external unexpected power-off.
5. The system of claim 1, wherein the second predetermined time is in the range of 10 to 80 milliseconds and the third predetermined time is in the range of 210 to 1080 milliseconds.
6. The system of claim 1, wherein the fourth predetermined time is in the range of 120 to 990 milliseconds.
7. The system of claim 1, wherein the main circuit switch is a single pole, multi-throw switch or a multi-pole, multi-throw switch.
8. The system of claim 1, wherein the master circuit is further configured to periodically detect a level shift sequence of the first detection signal and the second detection signal at a preset detection time to determine a cause of the power outage of the robot control system.
9. The system of claim 8, wherein the preset detection time is 10 milliseconds.
10. The system of claim 1, wherein the master circuit is further configured to record the cause of the outage into a log file when the robotic control system is powered off.
11. The system of claim 1, wherein the master control circuit is further configured to display the cause of the outage in log information when the robotic control system is powered on.
12. A method of power monitoring, comprising:
the main control circuit receives a first detection signal and a second detection signal;
determining a power failure reason of a robot control system by using the level conversion sequence of the first detection signal and the second detection signal;
the power supply monitoring method is applied to a robot control system, and the robot control system comprises: the alternating current-direct current conversion circuit comprises a first output end and a second output end, wherein the first output end is connected with the main control circuit so as to output a first detection signal to the main control circuit, and the second output end is connected with the main control circuit through the main circuit switch so as to output a second detection signal to the main control circuit through the main circuit switch; the delay switch device is respectively connected with the main control circuit and the first output end of the alternating current-direct current conversion circuit, and the direct current signal output by the first output end is used as the first detection signal and is output to the main control circuit through the delay switch device;
the delay switch device is a direct current relay, the direct current relay comprises a first control end, a first end and a second end, the first control end is connected with a first output end of the alternating current-direct current conversion circuit, the first end is connected with the first output end of the alternating current-direct current conversion circuit, and the second end is connected with the main control circuit;
the determining a power failure cause of the robot control system using a level transition sequence of the first detection signal and the second detection signal includes: judging whether the second detection signal is converted from a high level to a low level or not, and after a second preset time, judging whether the first detection signal is converted from the high level to the low level or not; if the judging result is yes, the main control circuit determines that the power-off reason of the robot control system is external accidental power-off; otherwise, judging whether the second detection signal is converted from a high level to a low level, and after a third preset time, judging whether the first detection signal is converted from the high level to the low level; if the judgment result is yes, the main control circuit determines that the power-off reason of the robot control system is that the main circuit switch is disconnected;
or the delay switching device is an alternating current relay, the alternating current relay comprises a second control end, a third end, a fourth end and a fifth end, the second control end is connected with the main circuit switch, the third end is connected with the first output end of the alternating current-direct current conversion circuit, the fourth end is connected with the main control circuit, and the fifth end is connected with the input end of the alternating current-direct current conversion circuit;
the determining a power failure cause of the robot control system using a level transition sequence of the first detection signal and the second detection signal includes: judging whether the first detection signal is converted from a high level to a low level or not, and after a fourth preset time, judging whether the second detection signal is converted from the high level to the low level or not; if the judgment result is yes, the main control circuit determines that the power failure reason of the robot control system is external accidental power failure.
13. The method of claim 12, wherein determining a cause of the power outage of the robotic control system using a level shift sequence of the first detection signal and the second detection signal further comprises:
judging whether the second detection signal is converted from a high level to a low level or not, and after a first preset time, judging whether the first detection signal is converted from the high level to the low level or not;
and if the judgment result is yes, the main control circuit determines that the power-off reason of the robot control system is that the main circuit switch is disconnected.
14. The method of claim 13, wherein the first preset time range is: 10-80 ms or 200-1000 ms.
15. The method of claim 12, wherein determining a cause of the power outage of the robotic control system using a level shift sequence of the first detection signal and the second detection signal further comprises:
judging whether the first detection signal and the second detection signal are simultaneously converted from a high level to a low level;
if the judgment result is yes, the main control circuit determines that the power-off reason of the robot control system is external accidental power-off.
16. The method of claim 12, wherein the second predetermined time is in the range of 10 to 80 milliseconds and the third predetermined time is in the range of 210 to 1080 milliseconds.
17. The method of claim 12, wherein the fourth predetermined time has a value in the range of 120 to 990 milliseconds.
18. The method of claim 12, wherein determining a cause of the power outage of the robotic control system using a level shift sequence of the first detection signal and the second detection signal further comprises:
the main control circuit periodically detects the level conversion sequence of the first detection signal and the second detection signal with preset detection time so as to determine the power-off reason of the robot control system.
19. The method according to claim 12, wherein the method further comprises:
and the main control circuit records the power-off reason into a log file when the robot control system is powered off and powered off, and displays the power-off reason in log information when the robot control system is powered on.
20. A robot comprising a robot control system according to any of claims 1-11.
21. A storage device having a program stored therein, wherein the program is executed to implement the power supply monitoring method according to any one of claims 12 to 19.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/078881 WO2019173977A1 (en) | 2018-03-13 | 2018-03-13 | Robot control system, power monitoring method, robot and storage apparatus |
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| CN111788489A CN111788489A (en) | 2020-10-16 |
| CN111788489B true CN111788489B (en) | 2023-06-06 |
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Citations (3)
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|---|---|---|---|---|
| JP2009060722A (en) * | 2007-08-31 | 2009-03-19 | Hoshizaki Electric Co Ltd | Rush-current preventing circuit and power supply device |
| CN103021735A (en) * | 2012-12-11 | 2013-04-03 | 福州大学 | Alternating current contactor intelligent control module with high speed pulse width modulation function |
| CN206977447U (en) * | 2017-08-11 | 2018-02-06 | 武汉微创光电股份有限公司 | Interchanger outage detection remote alarm device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004023918A (en) * | 2002-06-18 | 2004-01-22 | Sankyo Seiki Mfg Co Ltd | Power control circuit |
| CN102664451A (en) * | 2012-05-04 | 2012-09-12 | 朱林弟 | Power failure detection circuit and detection method thereof |
| CN105488931A (en) * | 2014-10-09 | 2016-04-13 | 中兴通讯股份有限公司 | Warning signal generation device, base station power device, and base station power system |
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2018
- 2018-03-13 WO PCT/CN2018/078881 patent/WO2019173977A1/en active Application Filing
- 2018-03-13 CN CN201880087181.2A patent/CN111788489B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009060722A (en) * | 2007-08-31 | 2009-03-19 | Hoshizaki Electric Co Ltd | Rush-current preventing circuit and power supply device |
| CN103021735A (en) * | 2012-12-11 | 2013-04-03 | 福州大学 | Alternating current contactor intelligent control module with high speed pulse width modulation function |
| CN206977447U (en) * | 2017-08-11 | 2018-02-06 | 武汉微创光电股份有限公司 | Interchanger outage detection remote alarm device |
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| WO2019173977A1 (en) | 2019-09-19 |
| CN111788489A (en) | 2020-10-16 |
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