CN104635821A - Electric quantity monitoring device oriented to service robot - Google Patents
Electric quantity monitoring device oriented to service robot Download PDFInfo
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- CN104635821A CN104635821A CN201310567467.XA CN201310567467A CN104635821A CN 104635821 A CN104635821 A CN 104635821A CN 201310567467 A CN201310567467 A CN 201310567467A CN 104635821 A CN104635821 A CN 104635821A
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Abstract
The invention relates to an electric quantity monitoring device oriented to a service robot. The electric quantity monitoring device comprises a master control module, a storage module, a current acquisition module, a voltage acquisition module, a battery input interface, a battery charging interface, a battery output interface and a power-on and power-off control module, wherein the storage module stores the remaining electric quantity. The voltage acquisition module acquires the charging voltage value, and the current acquisition module acquires the working current value. The master control module receives a first instruction and a second instruction from a service robot controller. The master control module acquires the first electric quantity value according to the current value based on an ampere hour method and corrects the first electric quantity value according to the voltage value and the remaining electric quantity based on an open-circuit voltage method, and then the second electric quantity value is acquired. The problem of electric quantity monitoring difficulty caused by the frequent change of loads of the service robot is solved in the mode that the ampere hour method is combined with the open-circuit voltage method, accuracy is higher, the requirement for stabilizing the loads is lower, and the requirement for high-accuracy electric quantity monitoring under the load condition can be met.
Description
[technical field]
The present invention relates to a kind of electricity quantity monitoring device of Service Robots.
[background technology]
In electricity monitoring field, general employing voltage monitoring method or voltage and current parameter identification method.
When simple employing voltage carries out battery dump energy monitoring, the change due to working current can cause the fluctuation of operating voltage, and this causes larger impact to monitoring result.Although simple employing voltage method design and implementation methods is all fairly simple, monitoring effect is generally poor, and precision is lower.
When adopting voltage and current parameter identification method, according to voltage during battery discharge, electric current, electric quantity curve, on-line identification goes out voltage, the battery electric quantity of current stabilization when a numerical value.The power supply stability requirement of parameter identification method to battery power supply system is higher, can not occur the large fluctuation of load.Parameter identification method is also comparatively difficult in realization, first will record many groups discharge curve of battery, the human and material resources of this process need at substantial, its secondary calculating carrying out parameter identification, and the realization of real time detection algorithm is also comparatively difficult.Therefore, the method can realize high-precision electric quantity monitoring in theory, but is difficult to when reality uses realize.
[summary of the invention]
The present invention is intended to solve above-mentioned problems of the prior art, proposes a kind of electricity quantity monitoring device of Service Robots.
The electricity quantity monitoring device of the Service Robots that the present invention proposes is used for carrying out data interaction with service robot controller, described electricity quantity monitoring device comprises main control module, memory module, current acquisition module, voltage acquisition module, battery input interface, battery charging inlet, battery output interface, power-on and power-off control module, wherein, described memory module stores dump energy, described voltage acquisition module gathers charging voltage value, described current acquisition module acquires working current value; Described main control module receives the first instruction from described service robot controller and the second instruction; Described main control module obtains the first charge value according to described current value based on ampere-hour method, and corrects the first charge value based on open-circuit voltage method according to described magnitude of voltage and dump energy, obtains the second charge value; Described main control module feeds back the second charge value according to described first instruction to service robot controller; Described power-on and power-off control module controls described electricity quantity monitoring device power-on and power-off according to described second instruction.
The electricity quantity monitoring device of the Service Robots that the present invention proposes adopts ampere-hour method by during normal work, the mode of open-circuit voltage method is adopted when being full of, solve the electricity monitoring that service robot causes because load often changes tired, precision is higher, lower to the requirement of load stabilization, the high precision electricity monitoring in varying duty situation can be met.In addition, compare and voltage and current parameter identification method, present invention eliminates the tedious steps of matching voltage, electric current, electric quantity curve, saved the development time.Eliminate the complicated algorithm of parameter identification, reduce development difficulty.
[accompanying drawing explanation]
Fig. 1 is the electricity quantity monitoring device structural drawing of the Service Robots of one embodiment of the invention.
Fig. 2 is the electricity monitoring module software section system assumption diagram of the Service Robots of one embodiment of the invention.
Fig. 3 is the method flow diagram that the employing open-circuit voltage method of one embodiment of the invention corrects that ampere-hour method calculates charge value.
[embodiment]
Below in conjunction with specific embodiment and accompanying drawing, the present invention is described in further detail.Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining technical scheme of the present invention, and not should be understood to limitation of the present invention.
In describing the invention, term " interior ", " outward ", " longitudinal direction ", " transverse direction ", " on ", D score, " top ", the orientation of the instruction such as " end " or position relationship be based on orientation shown in the drawings or position relationship, be only the present invention for convenience of description instead of require that the present invention with specific azimuth configuration and operation, therefore must not should be understood to limitation of the present invention.
The invention provides a kind of electricity quantity monitoring device of Service Robots, described electricity quantity monitoring device and service robot controller carry out data interaction, described electricity quantity monitoring device comprises main control module, memory module, current acquisition module, voltage acquisition module, battery input interface, battery charging inlet, battery output interface, power-on and power-off control module, wherein, described memory module stores dump energy, described voltage acquisition module gathers charging voltage value, described current acquisition module acquires working current value; Described main control module receives the first instruction from described service robot controller and the second instruction; Described main control module obtains the first charge value according to described current value based on ampere-hour method, and corrects the first charge value based on open-circuit voltage method according to described magnitude of voltage and dump energy, obtains the second charge value; Described main control module feeds back the second charge value according to described first instruction to service robot controller; Described power-on and power-off control module controls described electricity quantity monitoring device power-on and power-off according to described second instruction.
The realization that the invention provides a kind of electricity quantity monitoring device of Service Robots can be divided into: hardware, software, algorithm three part.
As shown in Figure 1, the electricity quantity monitoring device 10 of the Service Robots of one embodiment of the invention comprises main control module 100, memory module 200, current acquisition module 300, voltage acquisition module 400, battery input interface 500, battery charging inlet 600, battery output interface 700, power-on and power-off control module 800.
Hardware plan can preferably adopt the TMS320F28035 of TI company as its primary controller module, and the co-ordination of whole electricity monitoring control algolithm and modules all completes in main controller module.
Memory module 200 preferably can adopt and extend out EEPROM module, and eeprom memory module is used for storing control parameter, and main control module 100 is communicated with EEPROM by SPI interface.Eeprom chip can preferably adopt AT25640AN to realize further.The two is communicated by the communication protocol of EEPROM self definition.Dump energy during power down last time is stored, the information such as the total electricity of battery in EERPM.These information are read after controller powers on again, as the initial parameter of electricity quantity monitoring device.
Current acquisition module 300 preferably adopts Hall element to be connected with the AD interface on main control module 100 and realizes.Hall element can preferably adopt the ACS712ELCTR-30A-T of Allegro company to realize.
Voltage acquisition module 400 preferably adopts isolated amplifier to be connected with the AD interface on the AD interface on main control module 100 and realizes.Isolated amplifier can preferably adopt the ACPL-C78A of AVAGO company to realize.
Battery input interface 500 is interfaces of main control module 100 board and accumulator 30, and be also board and outside unique interface, it ensures that all electricity of power storage cell charge and discharge can both be monitored by board.
Battery charging inlet 600 is connected with extraneous charge power supply.The electricity being filled with accumulator can only enter accumulator by electricity quantity monitoring device, and when ensure that charging, electric quantity monitoring is accurate.
Battery output interface 700 for connecting external service robot consumer, for consumer is powered.The electricity that accumulator outputs to consumer all will export through electricity quantity monitoring device, and electric power detection when ensure that electric discharge is accurate.
Main control module 100 communicates with service robot controller 20 and realizes data interaction by CAN, to complete the communication between electric quantity monitoring device and service robot controller 20.Service robot controller 20 sends the order such as power-on and power-off, inquiry voltage, electric current, information about power to electric quantity monitoring device.Electric quantity monitoring device is to information such as service robot controller 20 transmitting system state, magnitude of voltage, current value, information about power, IO states.
Power-on and power-off control module 800 controls for the power-on and power-off of control system power electric, completes upper and lower electricity operation after obtaining upper and lower electricity order by CAN interface.After electricity quantity monitoring device receives the power-on and power-off order of service robot controller 20, by changing the output GPIO state of main control module 100, and then change the state of MOSFET, control system power-on and power-off state.MOSFET preferably can adopt the SUP90P06-09L of VISHAY company.
Electricity quantity monitoring device 10 also preferably includes temperature detecting module 40, and electricity quantity monitoring device can detect battery temperature in real time, the too high alarm of temperature.Temperature detecting module 40 preferably can adopt the TMP35 temperature sensor of AD company, is communicated with controller by analog signals, completes the collecting work of temperature.
The present invention proposes electricity monitoring module software section system assumption diagram as shown in Figure 2, and main control module 100 software section adopts the mode based on embedded real-time operating system to realize, and can be divided into and drive layer, hardware interrupts layer and task layer.
IO drives, AD drives, CAN drives, SPI drives to drive layer to comprise.Drive layer to be directly connected with hardware, realized by the bottom layer driving device configuring TMS320F28035.
Hardware interrupts is triggered by timer on sheet, adopts 1ms cycle triggering mode to realize.This interruption is as the time tag of whole device, and other modules of clocked flip complete relevant work.1ms triggers Task0 and completes electricity monitor task, and 1s triggers CAN transmission task and completes uploading of information about power, and 10s triggers the dump energy information of E2PORM task storage battery.
Task layer is divided into electricity monitor board command process task task 0, CAN to send task task 1, E2PROM operation task Task2.According to tasks carrying urgency level, task priority is respectively Task0, Task1, Task2 from high to low.Task0 completion timing AD gathers, calculate dump energy, CAN command process works, and Task1 completes CAN and sends task, and Task2 completes the operation task for E2PROM.Due to consuming time longer to the operation of E2PROM, therefore the priority of Task2 is set to minimum, performs when other task idles.
The present invention proposes the mode that electricity monitoring module algorithm some algorithm realizes adopting ampere-hour method to combine with open-circuit voltage method and realizes.The battery dump energy that ampere-hour method can realize entirely accurate in theory detects, but due to the impact by sampling precision, its cumulative errors progressively can strengthen along with the prolongation of time, therefore adopt open-circuit voltage method to correct ampere-hour method, thus charge value accurately after obtaining correcting.Particularly, by detecting the charging voltage of battery, the judgement for battery full state can be completed, thus correct battery electric quantity.
The implementation procedure of algorithm part as shown in Figure 3, the following detailed description of implementation procedure: first read dump energy during power down last time after 1, powering on from E2PROM; 2, current integration calculating is carried out with the cycle of 1ms; 3, determine whether charged state and be full of.If be full of, carry out the correction of dump energy, and return the current integration re-starting 1ms.If underfill, continue to perform downwards; 4, judge whether that 10S timing arrives.If to, by residual electric quantity stored in E2PROM module.If do not arrive, continue to perform; 5, judge whether to need power down.If do not need power down, then continue to perform the circulation of 1ms current integration.If desired power down, then by dump energy stored in E2PROM.
As mentioned above, electricity quantity monitoring device adopts ampere-hour method by during normal work, adopts the mode of open-circuit voltage method when being full of, and solves the electricity monitoring that service robot causes because load often changes tired.Compare and simple voltage monitoring method, the present invention is owing to adopting ampere-hour method, and precision is higher, lower to the requirement of load stabilization, can meet the high precision electricity monitoring in varying duty situation.In addition, compare and voltage and current parameter identification method, present invention eliminates the tedious steps of matching voltage, electric current, electric quantity curve, saved the development time.Eliminate the complicated algorithm of parameter identification, reduce development difficulty.
Although the present invention is described with reference to current better embodiment; but those skilled in the art will be understood that; above-mentioned better embodiment is only used for explaining and technical scheme of the present invention being described; and be not used for limit protection scope of the present invention; any within the spirit and principles in the present invention scope; any modification of doing, equivalence replacement, distortion, improvement etc., all should be included within claims of the present invention.
Claims (10)
1. the electricity quantity monitoring device of a Service Robots, described electricity quantity monitoring device and service robot controller carry out data interaction, described electricity quantity monitoring device comprises main control module, memory module, current acquisition module, voltage acquisition module, battery input interface, battery charging inlet, battery output interface, power-on and power-off control module, wherein, described memory module stores dump energy, described voltage acquisition module gathers charging voltage value, described current acquisition module acquires working current value; Described main control module receives the first instruction from described service robot controller and the second instruction; Described main control module obtains the first charge value according to described current value based on ampere-hour method, and corrects the first charge value based on open-circuit voltage method according to described magnitude of voltage and dump energy, obtains the second charge value; Described main control module feeds back the second charge value according to described first instruction to service robot controller; Described power-on and power-off control module controls described electricity quantity monitoring device power-on and power-off according to described second instruction.
2. the electricity quantity monitoring device of Service Robots according to claim 1, it is characterized in that, also comprise temperature detecting module and alarm module, described temperature detecting module obtains the temperature value of described accumulator, when described temperature value exceedes described main control module predetermined threshold value, alarm module described in described master control module controls is reported to the police.
3. the electricity quantity monitoring device of Service Robots according to claim 1, it is characterized in that, described voltage acquisition module comprises isolating amplifier circuit, and the magnitude of voltage that described battery input interface inputs carries out being sent to described main control module after isolation is amplified by described voltage acquisition module.
4. the electricity quantity monitoring device of Service Robots according to claim 1, is characterized in that, the charging current value of battery charging inlet described in described current acquisition module acquires and the discharge current value of described battery output interface.
5. the electricity quantity monitoring device of Service Robots according to claim 1, it is characterized in that, described main control module also feeds back the IO status information of described current value, magnitude of voltage and described main control module to described service robot controller according to described first instruction.
6. the electricity quantity monitoring device of Service Robots according to claim 1, is characterized in that, described main control module adopts TMS320F28035 cake core.
7. the electricity quantity monitoring device of Service Robots according to claim 1, is characterized in that, described memory module adopts eeprom memory.
8. the electricity quantity monitoring device of Service Robots according to claim 7, is characterized in that, described memory module adopts AT25640AN type eeprom memory.
9. the electricity quantity monitoring device of Service Robots according to claim 1, is characterized in that, described temperature detecting module comprises TMP35 type temperature sensor.
10. the electricity quantity monitoring device of Service Robots according to claim 1, is characterized in that, described main control module carries out data interaction by CAN and described service robot controller.
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| CN201310567467.XA CN104635821A (en) | 2013-11-14 | 2013-11-14 | Electric quantity monitoring device oriented to service robot |
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| CN106707019A (en) * | 2017-01-15 | 2017-05-24 | 禾思凯尔智能科技（东莞）有限公司 | A power monitoring device for a service robot |
| CN109040478A (en) * | 2018-08-31 | 2018-12-18 | 北京云迹科技有限公司 | The overload alarm method and device of phone box |
| CN112198438A (en) * | 2020-09-29 | 2021-01-08 | Oppo广东移动通信有限公司 | Method and device for detecting residual electric quantity of battery, electronic equipment and storage medium |
| CN114814609A (en) * | 2022-04-26 | 2022-07-29 | 深圳市普渡科技有限公司 | Method, device and system for detecting battery electric quantity and storage medium |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106707019A (en) * | 2017-01-15 | 2017-05-24 | 禾思凯尔智能科技（东莞）有限公司 | A power monitoring device for a service robot |
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