CN109342806A - The exchange wire breakage detector and method of robot - Google Patents
The exchange wire breakage detector and method of robot Download PDFInfo
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- CN109342806A CN109342806A CN201811438345.XA CN201811438345A CN109342806A CN 109342806 A CN109342806 A CN 109342806A CN 201811438345 A CN201811438345 A CN 201811438345A CN 109342806 A CN109342806 A CN 109342806A
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- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/25—Arrangements for measuring currents or voltages or for indicating presence or sign thereof using digital measurement techniques
- G01R19/2503—Arrangements for measuring currents or voltages or for indicating presence or sign thereof using digital measurement techniques for measuring voltage only, e.g. digital volt meters (DVM's)
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Abstract
The present invention provides the exchange wire breakage detectors and method of robot, the device includes: isolated form voltage detecting circuit and control circuit, isolated form voltage detecting circuit is used to convert the first alternating voltage between firewire and zero curve to the second alternating voltage, and the amplitude of the first alternating voltage is higher than the amplitude of the second alternating voltage；Control circuit obtains digitized alternating voltage, and digitized alternating voltage is weighted integral and low-pass filtering treatment, the accumulated error voltage filtered for converting the second alternating voltage；The accumulated error voltage of filtering is compared with predetermined voltage threshold, the state of alternating current is determined according to comparison result, can judge within a short period of time whether alternating current powers off, Detection accuracy is high.
Description
Technical field
The present invention relates to technical field of robot control, more particularly, to the exchange wire breakage detector of robot and side
Method.
Background technique
Adverse effect can be generated when alternating current powers off suddenly because of extraneous failure using the equipment of alternating current.For example,
When computer powers off suddenly, the information that will lead to preservation is lost；When industrial robot powers off suddenly, due to having little time controlled subtract
Speed causes braking mechanism to be impacted.These are provided with capacitor using most of the equipment of alternating current, are stored by capacitor a small amount of
Electric energy.But when detecting AC power failure, exchange burn out detection, this method are carried out using the method for pure analog circuit
It can not judge within a short period of time whether alternating current powers off, and erroneous judgement can be generated in zero-crossing of alternating current, therefore, it is impossible to sharp
Unsaved content is deposited or is controlled industrial robot and slows down by a small amount of electric energy that electricity consumption stores storage.
Summary of the invention
In view of this, the purpose of the present invention is to provide the exchange wire breakage detector and method of robot, can compared with
Judge whether alternating current powers off in short time, Detection accuracy is high.
In a first aspect, described device includes isolation the embodiment of the invention provides the exchange wire breakage detector of robot
Type voltage detecting circuit and control circuit, the isolated form voltage detecting circuit are connected with the control circuit；
The isolated form voltage detecting circuit, for converting the second friendship for the first alternating voltage between firewire and zero curve
Galvanic electricity pressure, the amplitude of first alternating voltage are higher than the amplitude of second alternating voltage；
The control circuit obtains digitized alternating voltage, and will for converting second alternating voltage
The digitized alternating voltage is weighted integral and low-pass filtering treatment, the accumulated error voltage filtered；It will be described
The accumulated error voltage of filtering is compared with predetermined voltage threshold, and the state of alternating current is determined according to comparison result.
Further, the control circuit includes analog to digital conversion circuit and single-chip microcontroller, analog-digital conversion circuit as described with it is described
Single-chip microcontroller is connected；
Analog-digital conversion circuit as described obtains digitized alternating voltage for converting second alternating voltage；
The single-chip microcontroller is obtained for the digitized alternating voltage to be weighted integral and low-pass filtering treatment
The accumulated error voltage of filtering；The accumulated error voltage of the filtering is compared with predetermined voltage threshold, is tied according to comparing
Fruit determines the state of alternating current.
Further, the control circuit includes single-chip microcontroller；
The single-chip microcontroller obtains digitized alternating voltage for converting second alternating voltage, and by institute
It states digitized alternating voltage and is weighted integral and low-pass filtering treatment, the accumulated error voltage filtered；By the filter
The accumulated error voltage of wave is compared with predetermined voltage threshold, and the state of alternating current is determined according to comparison result.
Further, the single-chip microcontroller is also used to determine the digitized friendship according to the digitized alternating voltage
Galvanic electricity presses corresponding frequency, initial phase and amplitude；According to the corresponding frequency of the digitized alternating voltage, phase and amplitude
Calculate instantaneous voltage；The instantaneous voltage is compared with predeterminated voltage, obtains deviation voltage；The deviation voltage is carried out
Weighted integral processing, obtains accumulated error voltage；The accumulated error voltage is subjected to low-pass filtering treatment, obtains the filtering
Accumulated error voltage.
Further, the single-chip microcontroller is also used to be greater than the predeterminated voltage in the accumulated error voltage of the filtering
In the case of, determine that the alternating current is in off-position；
Alternatively,
In the case where the accumulated error voltage of the filtering is less than the predeterminated voltage, determine that the alternating current is in just
Normal working condition.
Further, described device further includes electrical equipment, is connected with the control circuit, for receiving the control
The alternating current that circuit is sent is in the exception information of the off-position.
Further, the single-chip microcontroller is also used to calculate the instantaneous voltage according to the following formula:
Wherein, VeFor the instantaneous voltage, A is the corresponding amplitude of the digitized alternating voltage, and f is the frequency,
For the initial phase, t is the time.
Further, the frequency is 50HZ or 60Hz.
Further, the single-chip microcontroller is also used to calculate the accumulated error voltage according to the following formula:
Vid=∑ an×(bt)×(V-Ve)
Wherein, VidFor the accumulated error voltage, anFor the coefficient sequence of wave digital lowpass filter, btFor the initial phase
The corresponding weight coefficient in position, VeFor the instantaneous voltage, V is the predeterminated voltage.
Second aspect, the embodiment of the invention provides the exchange wire break detection methods of robot, are applied to as described above
Device, which comprises
The second alternating voltage, the width of first alternating voltage are converted by the first alternating voltage between firewire and zero curve
Value is higher than the amplitude of second alternating voltage；
Second alternating voltage is converted, digitized alternating voltage is obtained；
The digitized alternating voltage is weighted integral and low-pass filtering treatment, the accumulated error electricity filtered
Pressure；
The accumulated error voltage of the filtering is compared with predetermined voltage threshold, alternating current is determined according to comparison result
State.
The embodiment of the invention provides the exchange wire breakage detector and method of robot, which includes: isolated form electricity
Detection circuit and control circuit is pressed, isolated form voltage detecting circuit is used to convert the first alternating voltage between firewire and zero curve
For the second alternating voltage, the amplitude of the first alternating voltage is higher than the amplitude of the second alternating voltage；Control circuit is used to hand over second
Galvanic electricity pressure is converted, and obtains digitized alternating voltage, and digitized alternating voltage is weighted integral and low pass filtered
Wave processing, the accumulated error voltage filtered；The accumulated error voltage of filtering is compared with predetermined voltage threshold, according to
Comparison result determines the state of alternating current, can judge within a short period of time whether alternating current powers off, and Detection accuracy is high.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention are in specification, claims
And specifically noted structure is achieved and obtained in attached drawing.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the exchange wire breakage detector schematic diagram of robot provided in an embodiment of the present invention；
Fig. 2 is the exchange wire breakage detector schematic diagram of another robot provided in an embodiment of the present invention；
Fig. 3 is the exchange wire breakage detector schematic diagram of another robot provided in an embodiment of the present invention；
Fig. 4 is the exchange wire breakage detector schematic diagram of another robot provided in an embodiment of the present invention；
Fig. 5 is the exchange wire breakage detector schematic diagram of another robot provided in an embodiment of the present invention；
Fig. 6 is the exchange wire break detection method flow chart of robot provided in an embodiment of the present invention.
Icon:
10- isolated form voltage detecting circuit；20- control circuit；30- electrical equipment；21- analog to digital conversion circuit；22- monolithic
Machine；40- non-isolation type voltage detecting circuit.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
To be described in detail to the embodiment of the present invention below convenient for understanding the present embodiment.
Fig. 1 to Fig. 5 is the exchange wire breakage detector schematic diagram of robot provided in an embodiment of the present invention.
Referring to figs. 1 to Fig. 5, which includes isolated form voltage detecting circuit 10 and control circuit 20, the inspection of isolated form voltage
Slowdown monitoring circuit 10 is connected with control circuit 20；It further include non-isolation type voltage detecting circuit 40, non-isolation type voltage detecting circuit
40 are connected with control circuit 20.
Isolated form voltage detecting circuit 10, for converting the second exchange for the first alternating voltage between firewire and zero curve
Voltage, the amplitude of the first alternating voltage are higher than the amplitude of the second alternating voltage；
Here, non-isolation type voltage detecting circuit 40 can also convert the second alternating voltage for the first alternating voltage.
The circuit structure diagram of isolated form voltage detecting circuit 10 can refer to Fig. 2 and Fig. 4, and non-isolation type voltage detecting circuit can
It is specific as follows referring to Fig. 3 and Fig. 5:
In Fig. 2 and Fig. 4, optocoupler U1 includes light emitting diode and phototriode.One end of current-limiting resistance R1 connects fire
The other end of line, current-limiting resistance R1 is connected with light emitting diode, and zero curve is connected with light emitting diode, the emitter of phototriode
Ground connection, collector are connected with one end of amplification resistance R2 and control circuit respectively, and the other end of amplification resistance R2 connects power supply
Voltage.
In fig. 3 and in fig. 5, the anode of diode D1 connects firewire, the cathode of the diode D1 yin with diode D2 respectively
Pole is connected with one end of resistance R1, and the anode of diode D2 is connected with the cathode of zero curve and diode D4 respectively, diode
The anode of D4 is connected with one end of the anode of diode D3 and resistance R2 respectively, and the one of the anode of diode D4 and resistance R2
End is grounded；The other end of the resistance R2 is connected with the other end of the resistance R1.Wherein, AC_L is firewire, and AC_N is
Zero curve.
The circuit structure of isolated form voltage detecting circuit 10 includes two kinds of situations, the first situation is by optocoupler by first
Alternating voltage is converted into the second alternating voltage；Second situation is to be handed over by way of Wheatstone bridge and electric resistance partial pressure by first
Galvanic electricity pressure is converted into the second alternating voltage.
Control circuit 20 obtains digitized alternating voltage, and will digitlization for converting the second alternating voltage
Alternating voltage be weighted integral and low-pass filtering treatment, the accumulated error voltage filtered；By the accumulated error of filtering
Voltage is compared with predetermined voltage threshold, and the state of alternating current is determined according to comparison result.
Specifically, the accumulated error voltage of filtering is compared with predetermined voltage threshold, obtains comparison result.Compare knot
Fruit includes two kinds of situations: when the first situation is that the accumulated error voltage of filtering is greater than predetermined voltage threshold, being determined at alternating current
In off-position；When second situation is that the accumulated error voltage of filtering is less than predetermined voltage threshold, determine that alternating current is in just
Normal working condition.In the case where determining that alternating current is in off-position, illustrate alternating current break down, it is therefore desirable in time to
User equipment 30 sends the exception information that alternating current is in off-position.
Further, control circuit 20 includes analog to digital conversion circuit 21 and single-chip microcontroller 22, analog to digital conversion circuit 21 and monolithic
Machine 22 is connected；
Analog to digital conversion circuit 21 obtains digitized alternating voltage for converting the second alternating voltage；
Single-chip microcontroller 22 is filtered for digitized alternating voltage to be weighted integral and low-pass filtering treatment
Accumulated error voltage；The accumulated error voltage of filtering is compared with predetermined voltage threshold, is determined and is exchanged according to comparison result
The state of electricity.
Further, control circuit 20 includes single-chip microcontroller 22；
Single-chip microcontroller 22 obtains digitized alternating voltage, and will be digitized for converting the second alternating voltage
Alternating voltage is weighted integral and low-pass filtering treatment, the accumulated error voltage filtered；The accumulation of the filtering is missed
Potential difference is compared with predetermined voltage threshold, and the state of alternating current is determined according to comparison result.
Specifically, control circuit 20 includes two kinds of situations, the first situation is that control circuit 20 includes analog to digital conversion circuit
21 and single-chip microcontroller 22, second situation is that control circuit 20 includes single-chip microcontroller 22.Wherein, the analog-to-digital conversion electricity in the first situation
Road 21 is individual circuit, is connected with single-chip microcontroller 22.Analog to digital conversion circuit 21 in second situation is arranged in single-chip microcontroller 22
Analog-to-digital conversion is realized in inside inside single-chip microcontroller 22.
Further, single-chip microcontroller 22 is also used to determine that digitized alternating voltage is corresponding according to digitized alternating voltage
Frequency, initial phase and amplitude；Instantaneous voltage is calculated according to the corresponding frequency of digitized alternating voltage, phase and amplitude；It will
Instantaneous voltage is compared with predeterminated voltage, obtains deviation voltage；Integral Processing is weighted to deviation voltage, accumulation is obtained and misses
Potential difference；Accumulated error voltage is subjected to low-pass filtering treatment, the accumulated error voltage filtered.
Specifically, single-chip microcontroller 22 is also used to determine digitized exchange within a preset time according to digitized alternating voltage
The corresponding amplitude of voltage, preset time can be within 100ms, but is not limited to 100ms.It, can by the setting to preset time
With effectively avoid because alternating voltage it is long-term it is relatively low caused by erroneous judgement, and whether can judge alternating voltage within a short period of time
There are failure, Detection accuracy is high.
After getting accumulated error voltage, low-pass filtering treatment is carried out to accumulated error voltage, is due to external environment
The influence of factor, after carrying out low-pass filtering treatment, the accumulated error voltage that is filtered.
Further, single-chip microcontroller 22 is also used to determine in the case where the accumulated error voltage of filtering is greater than predeterminated voltage
Alternating current is in off-position；
Alternatively,
In the case where the accumulated error voltage of filtering is less than predeterminated voltage, determine that alternating current is in normal operating conditions.
Further, which further includes electrical equipment 30, is connected with control circuit 20, for receiving control circuit 20
The alternating current of transmission is in the exception information of off-position.
Further, single-chip microcontroller 22 is also used to calculate instantaneous voltage according to formula (1):
Wherein, VeFor instantaneous voltage, A is the corresponding amplitude of digitized alternating voltage, and f is frequency,For initial phase, t
For the time.
Further, frequency is 50HZ or 60Hz.
Further, single-chip microcontroller 22 is also used to calculate accumulated error voltage according to formula (2):
Vid=∑ an×(bt)×(V-Ve) (2)
Wherein, VidFor accumulated error voltage, anFor the coefficient sequence of wave digital lowpass filter, btIt is corresponding for initial phase
Weight coefficient, VeFor instantaneous voltage, V is predeterminated voltage.
Specifically, when obtaining accumulated error voltage, first instantaneous voltage is compared with predeterminated voltage, obtains deviation electricity
Pressure；Integral Processing is weighted to deviation voltage again.
Poor is being asked to instantaneous voltage and predeterminated voltage, is obtaining deviation voltage, when instantaneous voltage can be higher than predeterminated voltage
Error rejected, it is possible to prevente effectively from causing to judge by accident because short time voltage is excessively high.
In addition, due to not taking electricity when most of electrical equipments 30 are near alternating voltage zero-crossing point, and pressed through in alternating current
Electricity is taken when zero point is higher, therefore, by being weighted Integral Processing to deviation voltage, thus mistake when reducing alternating voltage zero-crossing point
The integral weight of difference, the integral weight of error when raising alternating voltage is higher, it is possible to prevente effectively from alternating voltage zero-crossing point
The erroneous judgement of generation.
The embodiment of the invention provides the exchange wire breakage detector of robot, which includes: isolated form voltage detecting
Circuit and control circuit, isolated form voltage detecting circuit are used to convert second for the first alternating voltage between firewire and zero curve
Alternating voltage, the amplitude of the first alternating voltage are higher than the amplitude of the second alternating voltage；Control circuit is used for the second alternating voltage
It is converted, obtains digitized alternating voltage, and digitized alternating voltage is weighted integral and low-pass filtering treatment,
The accumulated error voltage filtered；The accumulated error voltage of filtering is compared with predetermined voltage threshold, is tied according to comparing
Fruit determines the state of alternating current, can judge within a short period of time whether alternating current powers off, and Detection accuracy is high.
Fig. 6 is the exchange wire break detection method flow chart of robot provided in an embodiment of the present invention.
Referring to Fig. 6, it is applied to exchange wire breakage detector, method includes the following steps:
The first alternating voltage between firewire and zero curve is converted the second alternating voltage, the first alternating current by step S101
The amplitude of pressure is higher than the amplitude of the second alternating voltage；
Step S102 converts the second alternating voltage, obtains digitized alternating voltage；
Digitized alternating voltage is weighted integral and low-pass filtering treatment, the accumulation filtered by step S103
Error voltage；
The accumulated error voltage of filtering is compared step S104 with predetermined voltage threshold, is determined according to comparison result
The state of alternating current.
The present invention provides the exchange wire break detection methods of robot, comprising: by the first exchange between firewire and zero curve
Voltage is converted into the second alternating voltage, and the amplitude of the first alternating voltage is higher than the amplitude of the second alternating voltage；By the second alternating current
Pressure is converted, and digitized alternating voltage is obtained；Digitized alternating voltage is weighted integral and low-pass filtering treatment,
The accumulated error voltage filtered；The accumulated error voltage of filtering is compared with predetermined voltage threshold, is tied according to comparing
Fruit determines the state of alternating current, can judge within a short period of time whether alternating current powers off, and Detection accuracy is high.
The embodiment of the present invention also provides a kind of electronic equipment, including memory, processor and storage are on a memory and can
The computer program run on a processor, processor realize robot provided by the above embodiment when executing computer program
The step of exchanging wire break detection method.
The embodiment of the present invention also provides a kind of computer readable storage medium, and meter is stored on computer readable storage medium
Calculation machine program executes the step of the exchange wire break detection method of the robot of above-described embodiment when computer program is run by processor
Suddenly.
Computer program product provided by the embodiment of the present invention, the computer-readable storage including storing program code
Medium, the instruction that said program code includes can be used for executing previous methods method as described in the examples, and specific implementation can be joined
See embodiment of the method, details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
It with the specific work process of device, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
In addition, in the description of the embodiment of the present invention unless specifically defined or limited otherwise, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
Finally, it should be noted that embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that: anyone skilled in the art
In the technical scope disclosed by the present invention, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover in protection of the invention
Within the scope of.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of exchange wire breakage detector of robot, which is characterized in that described device includes: isolated form voltage detecting circuit
And control circuit, the isolated form voltage detecting circuit are connected with the control circuit；
The isolated form voltage detecting circuit, for converting the second alternating current for the first alternating voltage between firewire and zero curve
Pressure, the amplitude of first alternating voltage are higher than the amplitude of second alternating voltage；
The control circuit obtains digitized alternating voltage, and will be described for converting second alternating voltage
Digitized alternating voltage is weighted integral and low-pass filtering treatment, the accumulated error voltage filtered；By the filtering
Accumulated error voltage be compared with predetermined voltage threshold, the state of alternating current is determined according to comparison result.
2. the exchange wire breakage detector of robot according to claim 1, which is characterized in that the control circuit includes
Analog to digital conversion circuit and single-chip microcontroller, analog-digital conversion circuit as described are connected with the single-chip microcontroller；
Analog-digital conversion circuit as described obtains digitized alternating voltage for converting second alternating voltage；
The single-chip microcontroller is filtered for the digitized alternating voltage to be weighted integral and low-pass filtering treatment
Accumulated error voltage；The accumulated error voltage of the filtering is compared with predetermined voltage threshold, it is true according to comparison result
Determine the state of alternating current.
3. the exchange wire breakage detector of robot according to claim 1, which is characterized in that the control circuit includes
Single-chip microcontroller；
The single-chip microcontroller obtains digitized alternating voltage for converting second alternating voltage, and by the number
The alternating voltage of word is weighted integral and low-pass filtering treatment, the accumulated error voltage filtered；By the filtering
Accumulated error voltage is compared with predetermined voltage threshold, and the state of alternating current is determined according to comparison result.
4. the exchange wire breakage detector of robot according to claim 2 or 3, which is characterized in that the single-chip microcontroller, also
For determining the corresponding frequency of the digitized alternating voltage, initial phase and width according to the digitized alternating voltage
Value；Instantaneous voltage is calculated according to the corresponding frequency of the digitized alternating voltage, phase and amplitude；By the instantaneous voltage with
Predeterminated voltage is compared, and obtains deviation voltage；Integral Processing is weighted to the deviation voltage, obtains accumulated error electricity
Pressure；The accumulated error voltage is subjected to low-pass filtering treatment, obtains the accumulated error voltage of the filtering.
5. the exchange wire breakage detector of robot according to claim 4, which is characterized in that the single-chip microcontroller is also used
Shape is powered off in the case where the accumulated error voltage of the filtering is greater than the predeterminated voltage, determining that the alternating current is in
State；
Alternatively,
In the case where the accumulated error voltage of the filtering is less than the predeterminated voltage, determine that the alternating current is in normal work
Make state.
6. the exchange wire breakage detector of robot according to claim 5, which is characterized in that described device further includes using
Electric equipment is connected with the control circuit, is in the power-off for receiving the alternating current that the control circuit is sent
The exception information of state.
7. the exchange wire breakage detector of robot according to claim 4, which is characterized in that the single-chip microcontroller is also used to
The instantaneous voltage is calculated according to the following formula:
Wherein, VeFor the instantaneous voltage, A is the corresponding amplitude of the digitized alternating voltage, and f is the frequency,For institute
Initial phase is stated, t is the time.
8. the exchange wire breakage detector of robot according to claim 7, which is characterized in that the frequency be 50HZ or
60Hz。
9. the exchange wire breakage detector of robot according to claim 4, which is characterized in that the single-chip microcontroller is also used to
The accumulated error voltage is calculated according to the following formula:
Vid=∑ an×(bt)×(V-Ve)
Wherein, VidFor the accumulated error voltage, anFor the coefficient sequence of wave digital lowpass filter, btFor the initial phase pair
The weight coefficient answered, VeFor the instantaneous voltage, V is the predeterminated voltage.
10. a kind of exchange wire break detection method of robot, which is characterized in that it is described in any item to be applied to claim 1 to 9
Device, which comprises
The second alternating voltage is converted by the first alternating voltage between firewire and zero curve, the amplitude of first alternating voltage is high
In the amplitude of second alternating voltage；
Second alternating voltage is converted, digitized alternating voltage is obtained；
The digitized alternating voltage is weighted integral and low-pass filtering treatment, the accumulated error voltage filtered；
The accumulated error voltage of the filtering is compared with predetermined voltage threshold, the shape of alternating current is determined according to comparison result
State.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116243234A (en) * | 2023-05-11 | 2023-06-09 | 石家庄科林电气股份有限公司 | Power failure detection method and system of multimode assembled electric energy meter and electric energy meter |
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| CN116243234B (en) * | 2023-05-11 | 2023-08-11 | 石家庄科林电气股份有限公司 | Power failure detection method and system of multimode assembled electric energy meter and electric energy meter |
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