CN103197248B - Method and device for detecting electric quantity of robot storage battery - Google Patents
Method and device for detecting electric quantity of robot storage battery Download PDFInfo
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- CN103197248B CN103197248B CN201210003733.1A CN201210003733A CN103197248B CN 103197248 B CN103197248 B CN 103197248B CN 201210003733 A CN201210003733 A CN 201210003733A CN 103197248 B CN103197248 B CN 103197248B
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Abstract
The invention discloses a method and a device for detecting an electric quantity of a robot storage battery. The device comprises a main control module, a voltage sensor module, a current sensor module, a temperature sensor and a display module, wherein a voltage sensor is connected with the storage battery in parallel, and the voltage sensor is used for collecting voltage information of the storage battery and transmitting the voltage information to the main control module to be processed and displayed on the display module. The current sensor module is connected with the storage battery in series, and the current sensor module is used for collecting current information of the storage battery and transmitting the current information to the main control module to be processed and displayed. The temperature sensor is used for collecting temperature information near the storage battery and transmitting the temperature information to the main control module to be processed. The main control module is connected with the storage battery in series. The storage battery electric quantity detection device is simple in structure, small and exquisite in design, wide in application, and capable of being widely applied to the storage battery which is used for supplying power for a robot and preventing the electric quantity from being excessively low or powering off suddenly so as not to bring danger to the robot. At the same time, the detecting method is fast and accurate and has pertinence.
Description
Technical field
The invention belongs to detection technique field, relate generally to a kind of accumulator electric quantity detection apparatus for robot and method.
Background technology
Accumulator is invented by Pulan spy (Plante) for 1859, so far the history of existing more than 100 year.Lead-acid accumulator, after invention, has overwhelming superiority in electrochmical power source always.This is because it is cheap, starting material are easy to obtain, use sufficient reliability, be applicable to heavy-current discharge and the advantage such as ambient temperature range widely.As stable compact power, accumulator is also widely used in robot.
Battery temp (electrolyte temperature) raises, then the active substance on cathode-anode plate namely can be deteriorated, and corrode anode grid, and shorten battery life, relative, when battery temperature is too low, battery capacitance of storage can be made to reduce, easy over-discharge can, and then make shorter battery life.This kind of relation also can because of styles, pole plate material and changing.Therefore should following service condition be observed:
The electrolyte temperature of usual accumulator should maintain 15 ~ 55 DEG C for desirable using state, in unavoidable situation, and when also may not exceed electric discharge-15 ~ 55 DEG C, the scope of 0 ~ 60 DEG C during charging.During actual use, because temperature during charging can rise, therefore, electric discharge electrolyte temperature is at the end to maintain less than 40 DEG C for the most desirable.
Internal driving can strengthen because discharge capacity increases, especially during electric discharge terminal, impedance is maximum, and main cause is that the carrying out of electric discharge makes the poor conductor-lead sulfate of generation current and the decline of electrolyte density in pole plate, internal driving is all caused to strengthen, therefore after electric discharge, must charge, if let alone continuous discharge state at once, after then lead sulfate forms stable white crystals, even if charging, the active goods and materials of pole plate also cannot restore to the original state, and will shorten the tenure of use of storage battery.
Therefore, for the temperature of accumulator and electric power detection particularly important, prevent accumulator because state of temperature undesirable serviceable life affecting accumulator with overdischarge, also in order to robot electric power system has a good stable duty.As can be seen here, very important to the electric power detection of accumulator, and need a kind of device to protect accumulator.
Summary of the invention
Fundamental purpose of the present invention is to provide a kind of detecting device for storage battery for robot and method, and it is used for detecting accumulator remaining electricity, avoids the too low or unexpected power-off of accumulator electric-quantity to bring harm to robot.
For achieving the above object, the present invention adopts following technical scheme:
A kind of detecting device for storage battery for robot, it comprises: main control module, voltage sensor module, current sensor module, temperature sensor, display module, described voltage sensor is in parallel with accumulator, and it gathers the information of voltage of accumulator and is transferred to described main control module and carries out processing and show on described display module; Described current sensor module is connected with accumulator, the current information of the accumulator described in collection is also transferred to described main control module and carries out processes and displays, and the temperature information near the described accumulator described in temperature sensor collection is also transferred to described main control module and processes; Described main control module is in parallel with accumulator.
Preferably, in above-mentioned main control module, include voltage detection module and current detection module, be respectively used to detect received information of voltage and current information.
The above-mentioned detecting device for storage battery for robot, it also includes communication module further, and result, by described communication module, is sent to the controller of robot by described main control module.
Preferably, between accumulator and main control module, also switch is provided with.
The above-mentioned detecting device for storage battery for robot, it also includes button further, and described button is connected with main control module, for forcing lower electricity to accumulator.
A kind of storage battery quantity measuring method, it adopts above-mentioned pick-up unit, and it comprises the following steps:
A. accumulator is started working, and powers on and initialization to described main control module;
B. gathered the temperature of battery-operated environment by described temperature sensor, and send to described main control module to process;
C. gathered the current information of accumulator by described current sensor, and be transferred to described main control module and process;
E. by the information of voltage of described voltage sensor module acquires accumulator, and be transferred to described main control module and process;
F. by temperature, electric current and voltage, determine the electricity of the accumulator of this some correspondence, shown by described display module, and send to the controller of robot by communication module.
Preferably, in stepb, if temperature exceedes specified scope, then described main control module sends warning, is shown by described display module; Meanwhile, robot controller is sent to by described communication module.
Preferably, in step c, if electric current exceedes specified scope, described main control module sends warning, and is shown by described display module, sends to robot controller by described communication module simultaneously.
Above-mentioned storage battery quantity measuring method, it is further comprising the steps of:
If g. electricity is lower than 20%, described display module gives the alarm, and prompting electricity is too low;
If electricity is lower than 10%, described main control module sends power down protection signal by communication module to robot controller, and prompt system will descend electricity, cut off the electricity supply after 10 seconds, prevent unexpected power down.
After adopting technique scheme, during use, the data that voltage sensor module, current sensor module and temperature sensor collect process by main control module, and result is presented on display module, result is passed through communication module simultaneously, send to robot controller.The present invention devises a kind of accumulator electric quantity detection apparatus for robot, this apparatus structure is simple, design small and exquisite, be widely used, can be applied on the accumulator of powering to robot widely, prevent the too low or unexpected power-off of accumulator electric-quantity from bringing harm to robot, simultaneously also in order to extend the serviceable life of accumulator.Meanwhile, detection method provided by the present invention, utilizes temperature, electric current, the electricity of the method determination accumulator of voltage, more fast, accurately, more targetedly; Accumulator electric quantity detection apparatus not only plays electric power detection effect; also be the switch of accumulator simultaneously; and have protective effect to accumulator, improve the security of robot control system, the accumulator electric-quantity detection of applying for specific mass has actual meaning.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of electric quantity detection apparatus of the present invention.
Fig. 2 is the circuit diagram of voltage detection module.
Fig. 3 is the circuit diagram of current detection module.
Fig. 4 is the process flow diagram of detection method of quantity of electricity of the present invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Shown in figure 1, the invention discloses a kind of detecting device for storage battery for robot, it comprises: main control module 1, voltage sensor module 2, current sensor module 3, temperature sensor 4, display module 5, communication module 6, switch 8 and button 9, wherein:
Main control module 1 is in parallel with accumulator A, and main control module 1 is powered by accumulator A; Switch 8 is connected in major loop as the gauge tap of accumulator A, controls the power-on and power-off of whole robot system, comprises electric quantity detection apparatus;
The data that voltage sensor module 2, current sensor module 3 collect with temperature sensor 4 process by main control module 1, and result is presented on display module 5, result are passed through communication module 6 simultaneously, send to robot controller 7.
Main control module 1 comprises voltage detecting circuit, current detection circuit, after the information of voltage that voltage detecting circuit receiver voltage sensor assembly 2 gathers, detects this voltage; The current information of the accumulator A that current detection circuit received current sensor assembly 3 gathers, and detect.Voltage detecting circuit, current detection circuit with reference to figure 2, shown in, be this area common circuit design.
Voltage sensor module 2 is in parallel with accumulator A, and the data gathered are sent to main control module 1;
Current sensor module 3 is connected with accumulator A, is connected to after switch 8, and the data collected send to main control module 1;
Temperature sensor 4 is arranged on the surface of accumulator A, and the data collected send to main control module 1;
If long button 9, continued for 4 seconds, lower electricity can be forced by switch 8 couples of accumulator A.
Accumulator electric quantity detection apparatus not only plays electric power detection effect, and be also the switch of accumulator simultaneously, and have protective effect to accumulator, load is connected serially in circuit by this device, and this device is responsible for the break-make of this circuit.
The present invention, by designing a kind of accumulator electric quantity detection apparatus for robot, this apparatus structure is simple, design small and exquisite, be widely used, can being applied to widely on the accumulator of powering to robot, preventing the too low or unexpected power-off of accumulator electric-quantity from bringing harm to robot, simultaneously also in order to extend the serviceable life of accumulator.
The cardinal principle of this detecting device for storage battery is:
The temperature of the general and working environment of the electricity of accumulator, discharge current has relation, and the size of electricity can judge according to battery open-circuit voltage.Generally, the temperature of working environment, when constant with discharge current, accumulator electric-quantity is lower, and open-circuit voltage is lower; Operating ambient temperature is constant, and discharge current is larger, and open-circuit voltage is larger with accumulator electric-quantity downward trend, and discharge current is less, and trend is less; When discharge current is constant, the temperature of working environment is lower, and open-circuit voltage is larger with accumulator electric-quantity downward trend, otherwise trend is less.According to conclusions, can according to the temperature of working environment, discharge current and open-circuit voltage set up three-dimensional system of coordinate to determine the electricity of current accumulator.
This three-dimensional system of coordinate needs the instructions provided by production firm to establish basic framework, then in conjunction with practical application, arranges suitable coordinate according to operating ambient temperature from the different of load.By the position of coordinate system mid point, judge the dump energy of current accumulator.
Shown in figure 4, the invention also discloses a kind of storage battery quantity measuring method, it comprises the following steps:
A. accumulator A starts working, and powers on and initialization to main control module 1;
B. gathered the temperature of battery-operated environment by temperature sensor 5, and send to main control module 1 to process:
In this step, if temperature exceedes specified scope, then send warning, shown by display module 5, and send to robot controller 7 by described communication module 6;
In this step, the interval position of the temperature coordinate axis of this temperature in three-dimensional system of coordinate can also be judged further;
C. gathered the current information of accumulator A by current sensor 3, and be transferred to main control module 1 and process;
In this step, if electric current exceedes specified scope, send warning, and shown by display module 5, and send to robot controller 7 by communication module 6 simultaneously; In addition, the interval position of this electric current electric current coordinate axis in three-dimensional system of coordinate can also be judged further.
E. gathered the information of voltage of accumulator A by voltage sensor module 2, and be transferred to main control module 1 and process;
In this step, the interval position of this voltage voltage coordinate in three-dimensional coordinate system can also be judged.
F. by temperature, electric current and voltage, determine the electricity of the accumulator A of this some correspondence, shown by display module 5, and send to the controller 7 of robot by communication module;
If g. electricity is lower than 20%, display module 5 gives the alarm, and prompting electricity is too low;
If electricity is lower than 10%, main control module 1 sends power down protection signal by communication module 6 to robot controller 7, and prompt system will descend electricity, cuts off the electricity supply after 10 seconds, prevents unexpected power down.
The invention provides a kind of storage battery quantity measuring method for robot, adopt temperature, electric current, the electricity of the method determination accumulator of voltage, more fast, accurately, more targetedly; Accumulator electric quantity detection apparatus not only plays electric power detection effect; also be the switch of accumulator simultaneously; and have protective effect to accumulator, improve the security of robot control system, the accumulator electric-quantity detection of applying for specific mass has actual meaning.
The above; be only the present invention's preferably embodiment, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (9)
1. the detecting device for storage battery for robot, it is characterized in that: it comprises: main control module, voltage sensor module, current sensor module, temperature sensor, display module, described voltage sensor module is in parallel with accumulator, and it gathers the information of voltage of accumulator and is transferred to described main control module and carries out processing and show on described display module; Described current sensor module is connected with accumulator, the current information of the accumulator described in collection is also transferred to described main control module and carries out processes and displays, and the temperature information near the described accumulator described in temperature sensor collection is also transferred to described main control module and processes; Described main control module is in parallel with accumulator;
Described device can according to the temperature of working environment, and discharge current and open-circuit voltage set up three-dimensional system of coordinate to determine the electricity of current accumulator; Be specially: according to operating ambient temperature, suitable coordinate is set from the different of load, by the position of coordinate system mid point, judge the dump energy of current accumulator.
2. the detecting device for storage battery for robot according to claim 1, is characterized in that: include voltage detection module and current detection module in described main control module, is respectively used to detect received information of voltage and current information.
3. the detecting device for storage battery for robot according to claim 1, is characterized in that: it also includes communication module further, and result, by described communication module, is sent to the controller of robot by described main control module.
4. the detecting device for storage battery for robot according to claim 1,2 or 3, is characterized in that: between accumulator and main control module, be also provided with switch.
5. the detecting device for storage battery for robot according to claim 4, is characterized in that: it also includes button further, and described button is connected with main control module, for forcing lower electricity to accumulator.
6. a storage battery quantity measuring method, is characterized in that: it adopts the arbitrary described pick-up unit of Claims 1 to 5, and it comprises the following steps:
A. accumulator is started working, and powers on and initialization to described main control module;
B. gathered the temperature of battery-operated environment by described temperature sensor, and send to described main control module to process;
C. gather the current information of accumulator by described current sensor module, and be transferred to described main control module and process;
D. by the information of voltage of described voltage sensor module acquires accumulator, and be transferred to described main control module and process;
E. by temperature, electric current and voltage, determine the electricity of the accumulator of the some correspondence in coordinate system, shown by described display module, and send to the controller of robot by communication module.
7. storage battery quantity measuring method according to claim 6, is characterized in that: in stepb, if temperature exceedes specified scope, then described main control module sends warning, is shown by described display module; Meanwhile, robot controller is sent to by communication module.
8. the storage battery quantity measuring method according to claim 6 or 7, it is characterized in that: in step c, if electric current exceedes specified scope, described main control module sends warning, and shown by described display module, send to robot controller by communication module simultaneously.
9. storage battery quantity measuring method according to claim 6, is characterized in that: it is further comprising the steps of:
If f. electricity is lower than 20%, described display module gives the alarm, and prompting electricity is too low;
If electricity is lower than 10%, described main control module sends power down protection signal by communication module to robot controller, and prompt system will descend electricity, cut off the electricity supply after 10 seconds, prevent unexpected power down.
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103529392A (en) * | 2013-10-15 | 2014-01-22 | 江苏艾锐泰克无人飞行器科技有限公司 | High-precision battery electricity quantity tester |
| CN105785269A (en) * | 2014-12-22 | 2016-07-20 | 深圳市中兴微电子技术有限公司 | Battery electricity level metering system and method |
| CN105548899B (en) * | 2016-01-04 | 2019-03-01 | 朱建强 | A kind of battery management method and device of robot |
| CN106855695B (en) * | 2016-12-30 | 2020-07-07 | 上海新时达电气股份有限公司 | Robot safety control system and method |
| CN106707019A (en) * | 2017-01-15 | 2017-05-24 | 禾思凯尔智能科技（东莞）有限公司 | Service robot electric quantity monitoring device |
| CN109848991B (en) * | 2019-02-14 | 2024-04-19 | 江门市华彬科技有限公司 | Biped walking multi-joint robot |
| JP7079223B2 (en) * | 2019-05-23 | 2022-06-01 | 本田技研工業株式会社 | Battery status determination system, in-vehicle device, server, battery status determination method, and program |
| CN110667380A (en) * | 2019-09-20 | 2020-01-10 | 中车青岛四方机车车辆股份有限公司 | Train power supply method and device and train |
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