CN119171616A

CN119171616A - Power-off protection circuit, method, device, storage medium and robot

Info

Publication number: CN119171616A
Application number: CN202411322062.4A
Authority: CN
Inventors: 刘丹; 温元明; 陈陇飞; 莫勇全; 薛光坛
Original assignee: KUKA Robot Manufacturing Shanghai Co Ltd; KUKA Robotics Guangdong Co Ltd
Current assignee: KUKA Robot Manufacturing Shanghai Co Ltd; KUKA Robotics Guangdong Co Ltd
Priority date: 2024-09-20
Filing date: 2024-09-20
Publication date: 2024-12-20

Abstract

The present application proposes a power-off protection circuit, method, device, storage medium and robot. The power-off protection circuit includes: a supercapacitor; a charge and discharge control module, wherein the first end of the charge and discharge control module is electrically connected to the supercapacitor, and the second end of the charge and discharge control module is electrically connected to the power supply bus; a discharge protection module, wherein the first end of the discharge protection module is electrically connected to the second end of the charge and discharge control module; a sampling module, which is used to collect fault monitoring signals, and the signal output end of the sampling module is electrically connected to the signal input end of the discharge protection module; wherein the discharge protection module controls the on-off state between the charge and discharge control module and the load according to the fault monitoring signal. The present application extends the time that the supercapacitor continues to supply power to the system as a backup power supply, prevents the influence of supercapacitor failure on the load power supply, and suppresses the problem of output oscillation of the supercapacitor power supply circuit, thereby improving the stability of the power supply.

Description

Power-down protection circuit, method, device, storage medium and robot

Technical Field

The application relates to the technical field of power supply of systems, in particular to a power-down protection circuit, a power-down protection method, a power-down protection device, a power-down protection storage medium and a power-down protection robot.

Background

In an industrial robot control system, there are cases where the controller is suddenly powered off, such as a loose power supply, a sudden power failure, or the like. At this time, the control system of the robot needs to store field data when the system is powered down, so that an additional power supply system is needed to enable the control system of the robot to still have power supply under the condition that the main power supply is powered down.

In the related art, after the main power supply is powered down, the standby power supply supplies power to the system, and the standby power supply supplies power to the system, so that the problem of poor power supply stability exists.

Disclosure of Invention

The application aims to solve the technical problem of poor power supply stability in the prior art or related technologies.

To this end, a first aspect of the present application proposes a power-down protection circuit.

The second aspect of the application provides a power-down protection method.

A third aspect of the present application provides a power-down protection device.

A fourth aspect of the present application provides a power-down protection device.

A fifth aspect of the present application proposes a readable storage medium.

A sixth aspect of the present application proposes a robot.

In view of the above, according to a first aspect of the present application, a power failure protection circuit is provided, which includes a super capacitor, a charge/discharge control module, a first end of which is electrically connected to the super capacitor, a second end of which is electrically connected to a power supply bus, the charge/discharge control module being configured to output a first power supply signal when the power supply bus fails, the first power supply signal including a voltage signal output by the super capacitor, a discharge protection module, the first end of which is electrically connected to the second end of the charge/discharge control module, the second end of which is configured to output the first power supply signal to a load, and a sampling module, the signal output end of which is electrically connected to the signal input end of the discharge protection module, wherein the discharge protection module controls an on-off state between the charge/discharge control module and the load according to the fault monitoring signal.

In the technical scheme, the power-down protection circuit is used for supplying power to the load by taking the super capacitor as a standby power supply when the load is powered down, and providing protection in the process of supplying power to the load by the super capacitor. Specifically, when the power supply bus is not in a power-down state, the power supply bus can continuously supply power to the load, and the voltage signal of the power supply bus can be transmitted to the super capacitor through the charge-discharge control module, namely, the super capacitor is powered through the voltage signal of the power supply bus. It should be noted that, the super capacitor is an electrochemical element for storing energy through the polarized electrolyte, and the energy storage process is reversible, so that the power supply bus can supply power to the load and charge the super capacitor at the same time when the power supply bus is not powered down.

In the technical scheme, the power-down protection circuit comprises a charge-discharge control module, and the charge-discharge control module can control the charge-discharge state of the super capacitor. Specifically, when the power supply bus is not powered down, the charging and discharging control module can transmit the electric energy of the power supply bus to the super capacitor so as to charge the super capacitor. When the power supply bus is in a power-down state, the voltage signal on the super capacitor is output as a first power supply signal in the form of a switching power supply through the charge-discharge control module, and the first power supply signal can supply power to a load in a later-stage circuit.

In the technical scheme, the power-down protection circuit further comprises a sampling module and a discharge protection module, the sampling module can acquire a fault monitoring signal, and the fault monitoring signal can reflect whether a fault exists when the super capacitor supplies power to the load. The discharging protection module is connected between the charging and discharging control module and the load, and can control the on-off state of a passage between the charging and discharging control module and the load according to the fault monitoring signal acquired by the sampling module.

Specifically, when the discharge protection module determines that a fault exists when the super capacitor supplies power to a subsequent load according to the acquired fault monitoring signal, the discharge protection module cuts off a passage between the charge and discharge control module and the load, so that a first power supply signal output by the charge and discharge control module is not transmitted to the load, and the fault caused by continuously supplying power to the load in a fault state is avoided.

In the related art, after the standby power supplies power to the load, a mode of closing the standby power supplies to the load after a period of time delay exists, and the mode cannot guarantee the effect of supplying power to the load in the time of supplying power to the standby power supplies. For example, the insufficient charging of the standby power supply leads to insufficient power supply time and delay time, and the standby power supply has the problems of under-voltage, over-current and the like before delay.

According to the technical scheme, the super capacitor and the charge-discharge control module are arranged in the power-down protection circuit, so that under the condition that a power supply bus is powered down, a load can take power through the super capacitor and the charge-discharge control module, and the problems of data loss and the like caused by power failure of the load are avoided. And the sampling module and the discharging protection module are further arranged in the power failure protection circuit, so that the power supply state is monitored when the super capacitor supplies power to the load, the power supply process is controlled in time, the time that the super capacitor is used as a standby power supply for continuing power supply to the system is prolonged as much as possible, the influence of the super capacitor fault on the power supply of the load is prevented, the problem of output oscillation of the super capacitor power supply circuit is restrained, and the stability of power supply is improved.

In some embodiments, optionally, the sampling module includes:

The system comprises an undervoltage monitoring sub-module, a discharge protection module and a charging/discharging control module, wherein a sampling end of the undervoltage monitoring sub-module is electrically connected with the super capacitor, a signal output end of the undervoltage monitoring sub-module is electrically connected with the discharge protection module, and the undervoltage monitoring sub-module is used for outputting an undervoltage signal to the discharge protection module when detecting that the discharge voltage of the super capacitor is lower than a first voltage threshold value, wherein the discharge protection module is used for controlling the charging/discharging control module and the load to be in an open circuit state when receiving the undervoltage signal.

In the technical scheme, the sampling module comprises an under-voltage monitoring sub-module, and the under-voltage monitoring sub-module is electrically connected with the super capacitor and can collect the discharge voltage of the super capacitor when the super capacitor supplies power to a load. And comparing the collected discharge voltage with a first voltage threshold. And when the comparison result shows that the discharge voltage is lower than the first voltage threshold, determining that the super capacitor is in an under-voltage state, and transmitting an under-voltage signal to the discharge protection module by the under-voltage monitoring sub-module. Under the condition that the discharge protection module receives the undervoltage signal transmitted by the undervoltage monitoring sub-module, the access between the charge and discharge control module and the load is switched to an open-circuit state, so that the super capacitor and the first power supply signal output by the charge and discharge control module stop transmitting to the load, and load faults caused by power supply to the load when the super capacitor is undervoltage are effectively avoided.

Specifically, the under-voltage monitoring submodule is used for under-voltage protection of the super capacitor, when the discharge voltage of the super capacitor is lower than a first voltage threshold value, it is determined that the voltage on the super capacitor cannot continuously supply power to the load in the form of a switching power supply for a long time, and at the moment, in order to avoid adverse effects of unstable power supply voltage on the load, the power supply of the super capacitor to the load is switched through the discharge protection module.

According to the technical scheme, the under-voltage monitoring sub-module is arranged in the sampling module, so that the discharge voltage of the super capacitor can be monitored, the super capacitor stops supplying power to the load when the super capacitor is in an under-voltage state, and the stability of the super capacitor serving as a standby power supply for supplying power to the load is improved.

In some embodiments, optionally, the sampling module includes:

The fault detection sub-module is electrically connected with the load, the signal output end of the fault detection sub-module is electrically connected with the discharge protection module, and the fault detection sub-module is used for outputting a load fault signal to the discharge protection module when the load is in a fault state.

In the technical scheme, the sampling module comprises a fault detection sub-module, the fault detection sub-module is electrically connected with the load, the fault detection sub-module can detect whether the load is in a fault state, and the fault detection sub-module can transmit a load fault signal to the discharge protection module when detecting that the load is in the fault state. It should be noted that, after receiving the load fault signal, the discharge protection module can determine whether to stop the power supply of the super capacitor to the load according to the load fault signal.

In particular, the fault detection submodule includes a voltage detection circuit in a subsequent stage system in which the load is located. The voltage signal of the super capacitor outputs a first power supply signal in the form of a switching power supply through the charge-discharge management module, and the first power supply signal is transmitted to a later-stage system where a load is located to supply power to the load. When the first power supply signal oscillates the output voltage due to various potential faults, the voltage detection circuit can detect the abnormality and transmit a load fault signal to the discharge protection module. After receiving the load fault signal, the discharge protection module can select whether to cut off the power supply of the super capacitor to the load according to the load fault signal.

According to the technical scheme, the fault detection sub-module is arranged in the power failure protection circuit, whether the load is in a fault state or not can be detected through the fault detection sub-module, and a load fault signal is transmitted to the discharge protection module when the load is in the fault state, so that the discharge protection module can judge whether to cut off the power supply of the super capacitor to the load or not based on the load fault signal, and the stability and the safety of the power supply of the load to the super capacitor are improved. The fault detection circuit in the later-stage system where the load is multiplexed into the fault monitoring submodule, so that the circuit cost of the power-down protection circuit can be reduced.

In some embodiments, optionally, the sampling module further includes:

the discharge detection sub-module is used for outputting a discharge state signal to the discharge protection module when the super capacitor is in a discharge state;

the discharging protection module controls the charge and discharge control module and the load to be in an open circuit state under the condition of receiving the discharging state signal and the load fault signal.

In the technical scheme, the sampling module further comprises a discharge detection sub-module, the discharge detection sub-module is electrically connected with the super capacitor, and whether the super capacitor is in a discharge state or in a charging state can be detected through the discharge detection sub-module. And when the discharge detection submodule detects that the super capacitor is in a discharge state, a discharge state signal is transmitted to the discharge protection module.

Under the condition that the discharge protection module obtains a discharge state signal, the load can be determined to be powered by the super capacitor, at the moment, if the fault detection submodule is used for transmitting the load fault signal, the load can be determined to be failed when the super capacitor is used for powering the load, so that the discharge protection module switches a passage between the charge and discharge control module and the load into an open-circuit state, the super capacitor stops powering the load, and load faults caused by the fact that the super capacitor is used for powering the load with unstable voltage are avoided.

According to the technical scheme, the discharge protection module can determine the discharge state of the super capacitor through the discharge detection sub-module, and determine that the super capacitor is supplying power to the load when receiving a discharge state signal. When the discharge protection module receives the discharge state signal and the load fault signal simultaneously, the super capacitor can be determined to supply power to the load, the load has faults, and the load can be restarted repeatedly when in fault, so that the problems of output oscillation and the like are further caused, the damage to the system components is possibly caused, at the moment, the discharge protection module is used for switching the passage between the super capacitor and the load, the power supply of the super capacitor to the load is stopped in time, and the damage to the system components in the super capacitor power supply state is avoided.

In some embodiments, the power down protection circuit may further include a first reverse blocking module and a second reverse blocking module. The first reverse blocking module is connected between the power supply bus and the load, and the second reverse blocking module is connected between the discharge protection module and the load.

According to the technical scheme, the first reverse blocking module and the second reverse blocking module are arranged in the power failure protection circuit, the first reverse blocking module is arranged between the power supply bus and the load, and the second direction blocking module is arranged between the super capacitor and the load, so that crosstalk between the power supply bus and the super capacitor can be effectively avoided when the power supply bus or the super capacitor independently supplies power to the load.

According to a second aspect of the application, a power-down protection method is provided and is applied to the power-down protection circuit in any technical scheme, and the power-down protection method comprises the steps of controlling a charge-discharge control module to output a first power supply signal under the condition that a power supply bus is powered down, wherein the first power supply signal comprises a voltage signal output by a super capacitor, transmitting an acquired fault monitoring signal to a discharge protection module by a sampling module, and controlling the on-off state between the charge-discharge control module and a load by the discharge protection module according to the fault monitoring signal.

According to the technical scheme, the super capacitor and the charge-discharge control module are arranged in the power-down protection circuit, so that under the condition that a power supply bus is powered down, a load can take power through the super capacitor and the charge-discharge control module, and the problems of data loss and the like caused by power failure of the load are avoided. And the sampling module and the discharging protection module are further arranged in the power failure protection circuit, so that the power supply state is monitored when the super capacitor supplies power to the load, the power supply process is controlled in time, the time that the super capacitor is used as a standby power supply for continuing to supply power to the system is prolonged as much as possible, the influence of the super capacitor fault on the power supply of the load is prevented, and the problem of output oscillation of the super capacitor power supply circuit is restrained.

In some embodiments, optionally, the fault-monitoring signal includes an undervoltage signal, where the undervoltage signal is used to indicate that the discharge voltage of the supercapacitor is lower than a first voltage threshold;

The discharge protection module controls the on-off state between the charge and discharge control module and the load according to the fault monitoring signal, and comprises:

and the discharge protection module controls the charge and discharge control module and the load to be in an open circuit state under the condition of receiving the undervoltage signal.

In some technical schemes, optionally, the fault monitoring signals comprise a discharging state signal and a load fault signal, wherein the discharging state signal is used for indicating that the super capacitor is in a discharging state, and the load fault signal is used for indicating that the load is in a fault state;

And the discharging protection module controls the charge-discharge control module and the load to be in an open circuit state under the condition of receiving the discharging state signal and the load fault signal.

In some embodiments, optionally, the power-down protection method further includes:

Under the condition that the power supply bus supplies power to the load, the charge-discharge control module is controlled to output a second power supply signal to the super capacitor, and the second power supply signal is used for charging the super capacitor.

According to the technical scheme, whether the power supply bus charges the super capacitor or not can be controlled through the charge-discharge control module, and when the power supply bus is not in a power-down state, the super capacitor is charged through the power supply bus, so that the super capacitor is ensured to have enough electric quantity to supply power to a load under the condition that the power supply bus is powered down.

In some technical solutions, optionally, after controlling the charge-discharge control module to output the second power supply signal to the super capacitor under the condition that the power supply bus supplies power to the load, the method further includes:

And under the condition that the charging voltage of the super capacitor is larger than a second voltage threshold value, stopping controlling the charging and discharging control module to output a second power supply signal to the super capacitor.

According to the technical scheme, the power-down protection circuit can continuously monitor the charging voltage of the super capacitor, when the charging voltage is monitored to be larger than the second voltage threshold value, the super capacitor is determined to be charged, at the moment, the charging and discharging control module is controlled to stop transmitting the second power supply signal to the super capacitor, the charging process of the super capacitor is controlled, and the problem that the load cannot be effectively supplied due to insufficient electric quantity of the super capacitor is avoided.

According to a third aspect of the application, a power-down protection device is provided, which is applied to the power-down protection circuit in any technical scheme, and comprises a control unit, a transmission unit and a control unit, wherein the control unit is used for controlling a charge-discharge control module to output a first power supply signal under the condition that a power supply bus is powered down, the first power supply signal comprises a voltage signal output by a super capacitor, the transmission unit is used for transmitting a collected fault monitoring signal to a discharge protection module by a sampling module, and the control unit is used for controlling the on-off state between the charge-discharge control module and a load by the discharge protection module according to the fault monitoring signal.

According to a fourth aspect of the present application, a power-down protection device is provided, the power-down protection device comprising a processor and a memory, the memory storing a program or instructions which, when executed by the processor, implement the steps of the power-down protection method according to any of the above-mentioned aspects. Therefore, the power-down protection device has all the beneficial effects of the power-down protection method in any one of the above technical schemes, and will not be described herein.

According to a fifth aspect of the present application, there is provided a readable storage medium having stored thereon a program or instructions which, when executed by a processor, implement the steps of the power-down protection method according to any one of the above-mentioned technical solutions, thereby having all the advantageous technical effects of the power-down protection method according to any one of the above-mentioned technical solutions.

According to a sixth aspect of the present application, a robot is provided, which includes a power-down protection circuit in any one of the above-mentioned technical solutions, and/or a power-down protection device in any one of the above-mentioned technical solutions, and/or a readable storage medium in any one of the above-mentioned technical solutions, so that the robot has the power-down protection circuit in any one of the above-mentioned technical solutions, and/or the power-down protection device in any one of the above-mentioned technical solutions, and/or all the beneficial technical effects of the readable storage medium in any one of the above-mentioned technical solutions, which are not repeated herein.

Additional aspects and advantages of the application will be set forth in part in the description which follows, or may be learned by practice of the application.

Drawings

The foregoing and/or additional aspects and advantages of the application will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 illustrates a circuit topology of a power down protection circuit provided in some embodiments of the application;

FIG. 2 illustrates a flow chart providing a power-down protection method in some embodiments of the application;

FIG. 3 illustrates one of the block diagrams of a power down protection device provided in some embodiments of the application;

FIG. 4 illustrates a second block diagram of a power-down protection device provided in some embodiments of the application;

fig. 5 illustrates a block diagram of a robot provided in some embodiments of the application.

The reference numerals are as follows:

the power-down protection circuit 100, the super capacitor 110, the charge and discharge control module 120, the discharge protection module 130, the sampling module 140, the under-voltage monitoring sub-module 142, the fault detection sub-module 144, the discharge detection sub-module 146, the first reverse blocking module 152, the second reverse blocking module 154, the power supply bus 160 and the load 170.

Detailed Description

In order that the above-recited objects, features and advantages of the present application will be more clearly understood, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the present embodiment and the features in the embodiment may be combined with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced in other ways than those described herein, and therefore the scope of the present application is not limited to the specific embodiments disclosed below.

Power down protection circuits, methods, apparatuses, storage media, and robots according to some embodiments of the present application are described below with reference to fig. 1-5.

In accordance with one embodiment of the present application, fig. 1 shows a circuit topology diagram of a power-down protection circuit provided in some embodiments of the present application, and as shown in fig. 1, a power-down protection circuit 100 is provided, including a super capacitor 110, a charge/discharge control module 120, a discharge protection module 130, and a sampling module 140. The first end of the charge-discharge control module 120 is electrically connected with the super capacitor 110, the second end of the charge-discharge control module 120 is electrically connected with the power supply bus 160, the charge-discharge control module 120 is used for outputting a first power supply signal under the condition that the power supply bus 160 is powered down, the first power supply signal comprises a voltage signal output by the super capacitor 110, the first end of the discharge protection module 130 is electrically connected with the second end of the charge-discharge control module 120, the second end of the discharge protection module 130 is used for outputting the first power supply signal to the load 170, the sampling module 140 is used for collecting fault monitoring signals, and the signal output end of the sampling module 140 is electrically connected with the signal input end of the discharge protection module, wherein the discharge protection module 130 controls the on-off state between the charge-discharge control module 120 and the load 170 according to the fault monitoring signals.

In this embodiment, the power-down protection circuit 100 is configured to supply the load 170 with the supercapacitor 110 as a backup power source when the load 170 is powered down, and to provide protection during the period when the supercapacitor 110 is supplying power to the load 170. Specifically, when the power supply bus 160 is not in the power-down state, the power supply bus 160 can continuously supply power to the load 170, and the voltage signal of the power supply bus 160 can be transmitted to the super capacitor 110 through the charge/discharge control module 120, that is, the super capacitor 110 is powered through the voltage signal of the power supply bus 160. It should be noted that, the super capacitor 110 is an electrochemical element for storing energy through the polarized electrolyte, and the energy storing process is reversible, so that the power supply bus 160 can supply power to the load 170 and charge the super capacitor 110 at the same time when the power supply bus 160 is not powered down.

Illustratively, the load 170 includes a controller in a robotic control system, the power bus 160 provides power to the controller without power loss, and when the power bus 160 is powered down, the controller is powered through the super capacitor 110 in the power loss protection circuit 100, enabling the controller to store field data when the power bus 160 is powered down.

In this embodiment, the power-down protection circuit 100 includes a charge-discharge control module 120, and the charge-discharge control module 120 can control the charge-discharge state of the supercapacitor 110. Specifically, when the power supply bus 160 is not powered down, the charge-discharge control module 120 can transmit the electric energy of the power supply bus 160 to the super capacitor 110 to charge the super capacitor 110. In the power-down state of the power supply bus 160, the voltage signal on the super capacitor 110 is output as a first power supply signal in the form of a switching power supply through the charge-discharge control module 120, and the first power supply signal can supply power to the load 170 in the subsequent circuit.

Illustratively, the charge-discharge control module 120 includes a charge-discharge control chip, and performs switching control on the super capacitor 110 in a discharge state and a charge state based on the charge-discharge control chip.

In this embodiment, the power-down protection circuit 100 further includes a sampling module 140 and a discharge protection module 130, where the sampling module 140 can obtain a fault monitoring signal, and the fault monitoring signal can reflect whether a fault exists when the super capacitor 110 supplies power to the load 170. The discharge protection module 130 is connected between the charge and discharge control module 120 and the load 170, and the discharge protection module 130 can control the on-off state of the path between the charge and discharge control module 120 and the load 170 according to the fault monitoring signal obtained by the sampling module 140.

Specifically, when the discharge protection module 130 determines that there is a fault when the super capacitor 110 supplies power to the subsequent load 170 according to the obtained fault monitoring signal, the discharge protection module 130 cuts off the path between the charge and discharge control module 120 and the load 170, so that the first power supply signal output by the charge and discharge control module 120 is not transmitted to the load 170, and the fault caused by continuously supplying power to the load 170 in the fault state is avoided.

The sampling circuit is capable of transmitting a fault monitoring signal to the discharge protection module 130 when the output voltage of the super capacitor 110 has the problems of under-voltage, over-current, etc., so that the discharge protection module 130 cuts off the power supply of the super capacitor 110 to the load 170, and avoids the load 170 fault caused by the problem of the output voltage of the super capacitor 110.

In the related art, there is a way to delay a period of time to turn off the standby power supply to supply power to the load 170 after the standby power supply supplies power to the load 170, and this way cannot guarantee the effect of supplying power to the load 170 during the standby power supply time. For example, the insufficient charging of the standby power supply leads to insufficient power supply time and delay time, and the standby power supply has the problems of under-voltage, over-current and the like before delay.

In the embodiment of the application, by arranging the super capacitor 110 and the charge-discharge control module 120 in the power-down protection circuit 100, the load 170 can take power through the super capacitor 110 and the charge-discharge control module 120 under the condition that the power supply bus 160 is powered down, so that the problems of data loss and the like caused by power failure of the load 170 are avoided. And the sampling module 140 and the discharging protection module 130 are further arranged in the power failure protection circuit 100, so that the power supply state is monitored when the super capacitor 110 supplies power to the load 170, the power supply process is controlled in time, the time that the super capacitor 110 can supply power to the system continuously as a standby power supply is prolonged as far as possible, the influence of the super capacitor 110 fault on the power supply of the load 170 is prevented, the problem of output oscillation of the power supply circuit of the super capacitor 110 is restrained, and the stability of power supply is improved.

As shown in fig. 1, in some embodiments, optionally, sampling module 140 includes:

The under-voltage monitoring sub-module 142, the sampling end of the under-voltage monitoring sub-module 142 is electrically connected with the super capacitor 110, the signal output end of the under-voltage monitoring sub-module 142 is electrically connected with the discharge protection module 130, and the under-voltage monitoring sub-module 142 is configured to output an under-voltage signal to the discharge protection module 130 when detecting that the discharge voltage of the super capacitor 110 is lower than the first voltage threshold, where the discharge protection module 130 controls the charge/discharge control module 120 and the load 170 to be in an open state when receiving the under-voltage signal.

In this embodiment, the sampling module 140 includes an under-voltage monitoring sub-module 142, where the under-voltage monitoring sub-module 142 is electrically connected to the supercapacitor 110 and is capable of collecting the discharge voltage of the supercapacitor 110 when the supercapacitor 110 supplies power to the load 170. And comparing the collected discharge voltage with a first voltage threshold. When the comparison results in the discharge voltage being lower than the first voltage threshold, it is determined that the supercapacitor 110 is in an under-voltage state, and at this time, the under-voltage monitoring sub-module 142 transmits an under-voltage signal to the discharge protection module 130. Under the condition that the discharge protection module 130 receives the under-voltage signal transmitted by the under-voltage monitoring sub-module 142, the path between the charge and discharge control module 120 and the load 170 is switched to an off state, so that the super capacitor 110 and the first power supply signal output by the charge and discharge control module 120 stop transmitting to the load 170, and the load 170 fault caused by supplying power to the load 170 when the super capacitor 110 is under-voltage is effectively avoided.

Illustratively, the brown-out monitoring sub-module 142 includes a comparison circuit therein, through which the discharge voltage of the supercapacitor 110 can be compared to a first voltage threshold value, and the comparison circuit can transmit a brown-out signal to the discharge protection module 130 when the discharge voltage is less than the first voltage threshold value.

Specifically, the under-voltage monitoring sub-module 142 is configured to perform under-voltage protection on the supercapacitor 110, and determine that the voltage on the supercapacitor 110 cannot continuously supply power to the load 170 in the form of a switching power supply for a long time when the discharge voltage of the supercapacitor 110 is lower than the first voltage threshold, and at this time, to avoid adverse effects of an unstable power supply voltage on the load 170, the power supply of the supercapacitor 110 to the load 170 is switched by the discharge protection module 130.

In the embodiment of the present application, the under-voltage monitoring submodule 142 is provided in the sampling module 140 to monitor the discharge voltage of the supercapacitor 110, and when the supercapacitor 110 is in an under-voltage state, the supercapacitor 110 stops supplying power to the load 170, so as to improve the stability of the supercapacitor 110 as a standby power supply to supply power to the load 170.

the fault detection sub-module 144 is electrically connected with the load 170, a signal output end of the fault detection sub-module 144 is electrically connected with the discharge protection module 130, and the fault detection sub-module 144 is used for outputting a load fault signal to the discharge protection module 130 when the load 170 is in a fault state.

In this embodiment, the sampling module 140 includes a fault detection sub-module 144, where the fault detection sub-module 144 is electrically connected to the load 170, and the fault detection sub-module is capable of detecting whether the load 170 is in a fault state, and the fault detection sub-module is capable of transmitting a load fault signal to the discharge protection module 130 when detecting that the load 170 is in the fault state. It should be noted that, after receiving the load fault signal, the discharge protection module 130 can determine whether to stop the power supply of the super capacitor 110 to the load 170 according to the load fault signal.

Specifically, the fault detection sub-module 144 includes a voltage detection circuit in a subsequent stage system in which the load 170 is located. The voltage signal of the super capacitor 110 outputs a first power supply signal in the form of a switching power supply through the charge-discharge management module, and the first power supply signal is transmitted to a later stage system where the load 170 is located to supply power to the load 170. When the first power supply signal oscillates the output voltage due to various potential faults, the voltage detection circuit can detect the abnormality and transmit a load fault signal to the discharge protection module 130. The discharge protection module 130, after receiving the load fault signal, can select whether to cut off the power supply of the super capacitor 110 to the load 170 according to the load fault signal.

Illustratively, the discharge protection module 130 cuts off the path between the super capacitor 110 and the load 170, and stops supplying power to the load 170 through the super capacitor 110 when it is determined that the load 170 is being supplied by the first power supply signal output by the super capacitor 110 and the load fault signal transmitted by the fault detection sub-module 144 is received. The discharge protection module 130 determines that the load 170 is being powered by the second power supply signal output by the power supply bus 160, and when the load fault signal transmitted by the fault detection sub-module 144 is received at this time, it determines that the load fault signal is not caused by power supply of the supercapacitor 110, so that a path between the supercapacitor 110 and the load 170 is not required to be cut off.

In the embodiment of the present application, the fault detection sub-module 144 is disposed in the power failure protection circuit 100, and the fault detection sub-module 144 can detect whether the load 170 is in a fault state, and transmit a load fault signal to the discharge protection module 130 when the load 170 is in a fault state, so that the discharge protection module 130 can determine whether to cut off the power supply of the super capacitor 110 to the load 170 based on the load fault signal, thereby improving the stability and safety of the load 170 for supplying power to the super capacitor 110. The circuit cost of the power-down protection circuit 100 can be reduced by multiplexing the fault detection circuit in the subsequent system where the load 170 is located as a fault monitoring sub-module.

As shown in fig. 1, in some embodiments, optionally, the sampling module 140 further includes:

The discharge detection sub-module 146, the sampling end of the discharge detection sub-module 146 is electrically connected with the super capacitor 110, the signal output end of the discharge detection sub-module 146 is electrically connected with the discharge protection module 130, and the discharge detection sub-module 146 is used for outputting a discharge state signal to the discharge protection module 130 when the super capacitor 110 is in a discharge state;

the discharge protection module 130 controls the charge/discharge control module 120 and the load 170 to be in an open state when receiving the discharge state signal and the load fault signal.

In this embodiment, the sampling module 140 further includes a discharge detection sub-module 146, where the discharge detection sub-module 146 is electrically connected to the supercapacitor 110, and the discharge detection sub-module 146 can detect whether the supercapacitor 110 is in a discharge state or in a charge state. When the discharge detection sub-module 146 detects that the super capacitor 110 is in a discharge state, a discharge state signal is transmitted to the discharge protection module 130.

When the discharge protection module 130 obtains the discharge state signal, it can be determined that the load 170 is being powered by the supercapacitor 110, and at this time, if the fault detection sub-module 144 receives the load fault signal, it can be determined that the supercapacitor 110 fails to power the load 170, so the discharge protection module 130 switches the path between the charge and discharge control module 120 and the load 170 to an open state, so that the supercapacitor 110 stops powering the load 170, and a load 170 fault caused by the supercapacitor 110 powering the load 170 with an unstable voltage is avoided.

The fault detection sub-module 144 is illustratively a voltage detection circuit in a subsequent system where the load 170 is located, which outputs a low level signal, which is a load fault signal, both when a voltage anomaly is detected and when the circuit is initialized. When the discharge protection module 130 does not receive the discharge state signal and receives the low level signal as the load fault signal, it is determined that the system is in the initialized state at this time, the super capacitor 110 is being charged, and the load 170 is mainly powered by the power bus 160, and at this time, no breaking action is required to be performed. When the discharge protection module 130 receives the discharge state signal and receives the low level signal as the load fault signal, it is determined that the load 170 is powered by the supercapacitor 110 at this time, and the power failure of the load 170 at this time is caused by the supercapacitor 110, so that an open circuit action needs to be performed, so that the supercapacitor 110 is prevented from continuously providing an unstable voltage to the load 170 to adversely affect the load 170.

In the embodiment of the present application, the discharge protection module 130 can determine the discharge state of the supercapacitor 110 through the discharge detection sub-module 146, and determine that the supercapacitor 110 is supplying power to the load 170 when receiving the discharge state signal. When the discharge protection module 130 receives the discharge state signal and the load fault signal at the same time, it can be determined that the super capacitor 110 is supplying power to the load 170, and the load 170 has a fault, and the load 170 is restarted repeatedly due to the fault of the load 170, so that the problem of output oscillation and the like is further caused, and damage to system components is possibly caused, at this time, the discharge protection module 130 switches the path between the super capacitor 110 and the load 170, so that the super capacitor 110 is stopped from supplying power to the load 170 in time, and damage to the system components is avoided under the power supply state of the super capacitor 110.

In some embodiments, the power down protection circuit 100 optionally further includes a first reverse blocking module 152 and a second reverse blocking module 154. The first reverse blocking module 152 is connected between the power supply bus 160 and the load 170, and the second reverse blocking module 154 is connected between the discharge protection module 130 and the load 170.

In the embodiment of the present application, the first reverse blocking module 152 and the second reverse blocking module 154 are disposed in the power failure protection circuit 100, the first reverse blocking module 152 is disposed between the power supply bus 160 and the load 170, and the second direction blocking module is disposed between the super capacitor 110 and the load 170, so that crosstalk between the power supply bus 160 and the super capacitor 110 can be effectively avoided when the power supply bus 160 or the super capacitor 110 independently supplies power to the load 170.

In some embodiments, optionally, the charge-discharge control module includes a charge-discharge module chip, and the charge state and the discharge state of the super capacitor are controlled by switching through the charge-discharge control chip. The discharge protection module comprises a discharge protection chip, the on-off state of a power supply path for supplying power to the load is controlled by the discharge protection chip, and the second direction blocking module and the discharge protection module are integrated, so that the circuit structure is saved. The discharge detection sub-module in the sampling circuit comprises a discharge detection circuit, and the discharge detection circuit can transmit a discharge state signal to the discharge protection module when the super capacitor discharges. The fault detection submodule in the sampling circuit multiplexes the voltage detection circuit in the later system where the load is located. The undervoltage monitoring submodule in the sampling circuit comprises a voltage sampling circuit and an undervoltage monitoring chip, the discharge voltage of the super capacitor can be collected through the voltage sampling circuit, the discharge voltage is compared with a first voltage threshold through the undervoltage monitoring chip, and an undervoltage signal is transmitted to the discharge protection module when the discharge voltage is smaller than the first voltage threshold.

In accordance with an embodiment of the present application, fig. 2 shows a flowchart of a power-down protection method provided in some embodiments of the present application, and as shown in fig. 2, a power-down protection method is provided, and the power-down protection method is applied to the power-down protection circuit in any of the foregoing embodiments, where the power-down protection method includes:

Step 202, under the condition that a power supply bus is powered off, controlling a charge-discharge control module to output a first power supply signal, wherein the first power supply signal comprises a voltage signal output by a super capacitor;

In this embodiment, the power-down protection circuit includes a charge-discharge control module, and the charge-discharge control module can control the charge-discharge state of the supercapacitor. Specifically, when the power supply bus is not powered down, the charging and discharging control module can transmit the electric energy of the power supply bus to the super capacitor so as to charge the super capacitor. When the power supply bus is in a power-down state, the voltage signal on the super capacitor is output as a first power supply signal in the form of a switching power supply through the charge-discharge control module, and the first power supply signal can supply power to a load in a later-stage circuit.

Step 204, the sampling module transmits the collected fault monitoring signals to the discharge protection module;

And 206, controlling the on-off state between the charge and discharge control module and the load by the discharge protection module according to the fault monitoring signal.

In this embodiment, the power failure protection circuit further includes a sampling module and a discharge protection module, where the sampling module can obtain a fault monitoring signal, and the fault monitoring signal can reflect whether a fault exists when the super capacitor supplies power to the load. The discharging protection module is connected between the charging and discharging control module and the load, and can control the on-off state of a passage between the charging and discharging control module and the load according to the fault monitoring signal acquired by the sampling module.

The sampling circuit can transmit a fault monitoring signal to the discharge protection module when the output voltage of the super capacitor has the problems of under-voltage, over-current and the like, so that the discharge protection module cuts off the power supply of the super capacitor to a load, and load faults caused by the problem of the output voltage of the super capacitor are avoided.

In the embodiment of the application, the super capacitor and the charge-discharge control module are arranged in the power-down protection circuit, so that the load can take electricity in the super capacitor and the charge-discharge control module under the condition that the power supply bus is powered down, and the problems of data loss and the like caused by power failure of the load are avoided. And the sampling module and the discharging protection module are further arranged in the power failure protection circuit, so that the power supply state is monitored when the super capacitor supplies power to the load, the power supply process is controlled in time, the time that the super capacitor can supply power to the system continuously as a standby power supply is prolonged as much as possible, the influence of the super capacitor fault on the power supply of the load is prevented, and the problem of output oscillation of the super capacitor power supply circuit is restrained.

In some embodiments, optionally, the fault-monitoring signal includes an undervoltage signal for indicating that the discharge voltage of the supercapacitor is below a first voltage threshold;

In this embodiment, the sampling module includes an under-voltage monitoring sub-module, and the under-voltage monitoring sub-module is electrically connected with the super capacitor, and is capable of collecting a discharge voltage of the super capacitor when the super capacitor supplies power to the load. And comparing the collected discharge voltage with a first voltage threshold. And when the comparison result shows that the discharge voltage is lower than the first voltage threshold, determining that the super capacitor is in an under-voltage state, and transmitting an under-voltage signal to the discharge protection module by the under-voltage monitoring sub-module. Under the condition that the discharge protection module receives the undervoltage signal transmitted by the undervoltage monitoring sub-module, the access between the charge and discharge control module and the load is switched to an open-circuit state, so that the super capacitor and the first power supply signal output by the charge and discharge control module stop transmitting to the load, and load faults caused by power supply to the load when the super capacitor is undervoltage are effectively avoided.

In the embodiment of the application, the discharge voltage of the super capacitor can be monitored by arranging the undervoltage monitoring sub-module in the sampling module, and the super capacitor stops supplying power to the load when the super capacitor is in an undervoltage state, so that the stability of the super capacitor serving as a standby power supply for supplying power to the load is improved.

In some embodiments, optionally, the fault monitoring signal includes a discharge state signal for indicating that the super capacitor is in a discharge state and a load fault signal for indicating that the load is in a fault state;

In this embodiment, the sampling module includes a fault detection sub-module, where the fault detection sub-module is disposed in the load, and the fault detection sub-module is capable of detecting whether the load is in a fault state, and when the fault detection sub-module detects that the load is in the fault state, the fault detection sub-module is capable of transmitting a load fault signal to the discharge protection module. It should be noted that, after receiving the load fault signal, the discharge protection module can determine whether to stop the power supply of the super capacitor to the load according to the load fault signal.

In this embodiment, the sampling module further includes a discharge detection sub-module, and the discharge detection sub-module is electrically connected to the supercapacitor, and is capable of detecting whether the supercapacitor is in a discharge state or in a charge state through the discharge detection sub-module. And when the discharge detection submodule detects that the super capacitor is in a discharge state, a discharge state signal is transmitted to the discharge protection module.

In the embodiment of the application, the discharge protection module can determine the discharge state of the super capacitor through the discharge detection sub-module, and determine that the super capacitor is supplying power to the load when receiving a discharge state signal. When the discharge protection module receives the discharge state signal and the load fault signal simultaneously, the super capacitor can be determined to supply power to the load, the load has faults, and the load can be restarted repeatedly when in fault, so that the problems of output oscillation and the like are further caused, the damage to the system components is possibly caused, at the moment, the discharge protection module is used for switching the passage between the super capacitor and the load, the power supply of the super capacitor to the load is stopped in time, and the damage to the system components in the super capacitor power supply state is avoided.

In some embodiments, optionally, the power-down protection method further comprises:

In this embodiment, when the power supply bus is not in the power-down state, the power supply bus can continuously supply power to the load, and the voltage signal of the power supply bus can be transmitted to the super capacitor as the second power supply signal through the charge-discharge control module, that is, the super capacitor is charged through the second power supply signal output by the power supply bus. It should be noted that, the super capacitor is an electrochemical element for storing energy through the polarized electrolyte, and the energy storage process is reversible, so that the power supply bus can supply power to the load and charge the super capacitor at the same time when the power supply bus is not powered down.

In the embodiment of the application, whether the power supply bus charges the super capacitor or not can be controlled by the charge-discharge control module, and the super capacitor is charged by the power supply bus when the power supply bus is not in a power-down state, so that the super capacitor is ensured to have enough electric quantity to supply power to the load under the condition that the power supply bus is powered down.

In some embodiments, optionally, after controlling the charge-discharge control module to output the second power supply signal to the super capacitor in a case that the power supply bus supplies power to the load, the method further includes:

In the embodiment of the application, the power-down protection circuit can continuously monitor the charging voltage of the super capacitor, and when the charging voltage is monitored to be larger than the second voltage threshold value, the super capacitor is determined to be charged, at the moment, the charging and discharging control module is controlled to stop transmitting the second power supply signal to the super capacitor, so that the charging process of the super capacitor is controlled, and the problem that the load cannot be effectively supplied due to insufficient electric quantity of the super capacitor is avoided.

The charging and discharging control module comprises a voltage sampling circuit, and the charging voltage of the super capacitor is continuously monitored through the voltage sampling circuit so as to accurately control whether the super capacitor is charged through the power supply bus.

In accordance with one embodiment of the present application, fig. 3 shows one of the block diagrams of a power-down protection device according to some embodiments of the present application, and as shown in fig. 3, a power-down protection device 300 is provided, and the power-down protection device 300 is applied to the power-down protection circuit in any of the foregoing embodiments, where the power-down protection device 300 includes:

The control unit 302 is configured to control the charge-discharge control module to output a first power supply signal when the power supply bus is powered off, where the first power supply signal includes a voltage signal output by the super capacitor;

the transmission unit 304 is configured to transmit the collected fault monitoring signal to the discharge protection module by using the sampling module;

And the control unit 302 is used for controlling the on-off state between the charge and discharge control module and the load by the discharge protection module according to the fault monitoring signal.

And the control unit 302 is used for controlling the charge and discharge control module and the load to be in an open circuit state under the condition that the discharge protection module receives the under-voltage signal.

And the control unit 302 is used for controlling the charge and discharge control module and the load to be in an open circuit state under the condition that the discharge protection module receives the discharge state signal and the load fault signal.

In the embodiment of the application, the discharge protection module can determine the discharge state of the super capacitor through the discharge detection sub-module, and determine that the super capacitor is supplying power to the load when receiving a discharge state signal. When the discharge protection module receives the discharge state signal and the load fault signal simultaneously, the super capacitor can be determined to supply power to the load and the reverse power, the load has faults, and the load can be restarted repeatedly due to the load faults, so that the problems of output oscillation and the like are further caused, damage to system components is possibly caused, at the moment, the discharge protection module is used for switching the passage between the super capacitor and the load, the power supply of the super capacitor to the load is stopped in time, and the damage to the system components in the super capacitor power supply state is avoided.

In some embodiments, optionally, the control unit 302 is configured to control the charge-discharge control module to output a second power supply signal to the supercapacitor when the power supply bus supplies power to the load, where the second power supply signal is used to charge the supercapacitor.

In some embodiments, optionally, the control unit 302 is configured to stop controlling the charge-discharge control module to output the second power supply signal to the supercapacitor if the charging voltage of the supercapacitor is greater than the second voltage threshold.

In accordance with one embodiment of the present application, fig. 4 illustrates a second block diagram of a power-down protection device according to some embodiments of the present application, and as shown in fig. 4, a power-down protection device 400 includes a processor 402 and a memory 404, where the memory 404 stores a program or instructions that, when executed by the processor 402, implement the steps of the power-down protection method according to any of the embodiments described above. Therefore, the power-down protection device 400 has all the advantages of the power-down protection method in any of the above embodiments, and will not be described herein.

According to an embodiment of the present application, optionally, there is provided a readable storage medium having stored thereon a program or instructions which, when executed by a processor, implement the steps of the power-down protection method in any of the embodiments described above, thereby having all the advantageous technical effects of the power-down protection method in any of the embodiments described above.

Among them, readable storage media such as Read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk, and the like.

A computer readable storage medium may be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium may be, but is not limited to being, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of a computer-readable storage medium includes a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disk (DVD), a memory card, a floppy disk, an encoded mechanical device (e.g., a punch card or a groove with a protruding structure containing instructions), and any suitable combination of the foregoing. Computer-readable storage media, as used herein, should not be construed as transmitting a signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium, or an electrical signal transmitted through an electrical wire, etc.

Fig. 5 shows a block diagram of a robot according to some embodiments of the present application, as shown in fig. 5, optionally, according to an embodiment of the present application, a robot 500 is provided, including a power-down protection circuit according to any of the embodiments described above, and/or a power-down protection device 300 according to any of the embodiments described above, and/or a readable storage medium 502 according to any of the embodiments described above, so that all the technical advantages of the power-down protection device 300 according to any of the embodiments described above, and/or the readable storage medium 502 according to any of the embodiments described above are not repeated herein.

In some embodiments, the robot 500 optionally further comprises an action mechanism and a controller, wherein the controller is coupled to the action mechanism for controlling movement of the action mechanism, and the power down protection circuit 100 is coupled to the controller.

It should be understood that, in the claims, the specification and the drawings of the present application, the term "plurality" shall mean two or more, unless otherwise explicitly defined, that the terms "upper", "lower", etc. refer to an orientation or a positional relationship based on the orientation or the positional relationship shown in the drawings, merely to more conveniently describe the present application and make the description easier, and not to indicate or imply that the apparatus or element in question must have the specific orientation described, construct and operate in the specific orientation, so that the description shall not be construed as limiting the present application, and that the terms "connected", "mounted", "fixed", etc. shall be construed broadly, and that "connected" may be, for example, a fixed connection between a plurality of objects, a detachable connection between a plurality of objects, or an integral connection, a direct connection between a plurality of objects, or an indirect connection between a plurality of objects through intermediaries. The specific meaning of the terms in the present application can be understood in detail from the above data by those of ordinary skill in the art.

In the claims, specification, and drawings of the present application, the descriptions of terms "one embodiment," "some embodiments," "particular embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In the claims, specification and drawings of the present application, the schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present application, and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1.A power-down protection circuit, comprising:

A super capacitor;

the charging and discharging control module is used for outputting a first power supply signal under the condition that the power supply bus is powered down, and the first power supply signal comprises a voltage signal output by the super capacitor;

The first end of the discharge protection module is electrically connected with the second end of the charge-discharge control module, and the second end of the discharge protection module is used for outputting the first power supply signal to a load;

The sampling module is used for collecting fault monitoring signals, and the signal output end of the sampling module is electrically connected with the signal input end of the discharge protection module;

And the discharge protection module controls the on-off state between the charge and discharge control module and the load according to the fault monitoring signal.

2. The power down protection circuit of claim 1, wherein the sampling module comprises:

The sampling end of the undervoltage monitoring submodule is electrically connected with the super capacitor, the signal output end of the undervoltage monitoring submodule is electrically connected with the discharge protection module, and the undervoltage monitoring submodule is used for outputting an undervoltage signal to the discharge protection module under the condition that the discharge voltage of the super capacitor is detected to be lower than a first voltage threshold value;

and the discharging protection module controls the charge and discharge control module and the load to be in an open circuit state under the condition of receiving the under-voltage signal.

3. The power down protection circuit of claim 1, wherein the sampling module comprises:

The fault detection submodule is electrically connected with the load, a signal output end of the fault detection submodule is electrically connected with the discharge protection module, and the fault detection submodule is used for outputting a load fault signal to the discharge protection module when the load is in a fault state.

4. A power down protection circuit as defined in claim 3, wherein the sampling module further comprises:

the sampling end of the discharge detection sub-module is electrically connected with the super capacitor, the signal output end of the discharge detection sub-module is electrically connected with the discharge protection module, the discharge detection submodule is used for outputting a discharge state signal to the discharge protection module when the super capacitor is in a discharge state;

And the discharging protection module controls the charge and discharge control module and the load to be in an open circuit state under the condition of receiving the discharging state signal and the load fault signal.

5. The power down protection circuit according to any one of claims 1 to 4, further comprising:

The first reverse blocking module is connected between the power supply bus and the load;

and the second reverse blocking module is connected between the discharge protection module and the load.

6. A power-down protection method, characterized in that it is applied to the power-down protection circuit according to any one of claims 1 to 5, and comprises:

under the condition that a power supply bus is powered off, controlling a charge-discharge control module to output a first power supply signal, wherein the first power supply signal comprises a voltage signal output by a super capacitor;

The sampling module transmits the collected fault monitoring signals to the discharge protection module;

7. The power down protection method of claim 6, wherein the fault monitoring signal comprises an undervoltage signal indicating that a discharge voltage of the supercapacitor is below a first voltage threshold;

the discharging protection module controls the on-off state between the charging and discharging control module and the load according to the fault monitoring signal, and the discharging protection module comprises:

and the discharge protection module controls the charge and discharge control module and the load to be in an open circuit state under the condition of receiving the under-voltage signal.

8. The power down protection method of claim 6, wherein the fault monitoring signal comprises a discharge status signal and a load fault signal, the discharge status signal being used for indicating that the super capacitor is in a discharge state, the load fault signal being used for indicating that the load is in a fault state;

And the discharge protection module controls the charge and discharge control module and the load to be in an open circuit state under the condition of receiving the discharge state signal and the load fault signal.

9. The power down protection method according to any one of claims 6 to 8, characterized in that the power down protection method further comprises:

and under the condition that the power supply bus supplies power to the load, controlling the charge-discharge control module to output a second power supply signal to the super capacitor, wherein the second power supply signal is used for charging the super capacitor.

10. The power-down protection method according to claim 9, wherein, in a case where the power supply bus supplies power to the load, controlling the charge-discharge control module to output a second power supply signal to the super capacitor further comprises:

And under the condition that the charging voltage of the super capacitor is larger than a second voltage threshold value, stopping controlling the charging and discharging control module to transmit a second power supply signal to the super capacitor.

11. A power-down protection device, characterized in that it is applied to the power-down protection circuit according to any one of claims 1 to 5, and comprises:

the control unit is used for controlling the charge-discharge control module to output a first power supply signal under the condition that the power supply bus is powered off, wherein the first power supply signal comprises a voltage signal output by the super capacitor;

the transmission unit is used for transmitting the collected fault monitoring signals to the discharge protection module;

And the control unit is also used for controlling the on-off state between the charge and discharge control module and the load according to the fault monitoring signal.

12. A power-down protection device, comprising:

A processor;

a memory having stored therein a program or instructions which when executed by the processor implement the steps of the power-down protection method of any one of claims 6 to 10.

13. A readable storage medium, characterized in that it stores thereon a program or instructions, which when executed by a processor, implement the steps of the power-down protection method according to any one of claims 6 to 10.

14. A robot comprising a robot body, a robot body and a robot body, characterized by comprising the following steps:

A power down protection circuit according to claim 1 to 5, and/or

A power-down protection device according to claim 11 or 12, and/or

The readable storage medium of claim 13.