CN112398181B - Power supply loop, carrying equipment and power supply control method - Google Patents
Power supply loop, carrying equipment and power supply control method Download PDFInfo
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- CN112398181B CN112398181B CN201910746249.XA CN201910746249A CN112398181B CN 112398181 B CN112398181 B CN 112398181B CN 201910746249 A CN201910746249 A CN 201910746249A CN 112398181 B CN112398181 B CN 112398181B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0063—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with circuits adapted for supplying loads from the battery
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Abstract
The specification discloses a power supply loop, a carrying device and a power supply control method. When the first loop and the second loop supply power to the carrying equipment after being connected, an inquiry request is sent to the second loop through the first loop so as to obtain the identification stored in the second loop and determine whether to output forward voltage through the forward voltage output end. And the second loop can also determine whether to output the forward voltage through the first power supply and the first loop according to the control signal sent by the first loop. When the battery pack in the conveying equipment is provided with errors, the battery pack can not output forward voltage, and various problems caused by mixed use of batteries among the battery packs are avoided.
Description
Technical Field
The application relates to the technical field of robots, in particular to a power supply loop, a carrying device and a power supply control method.
Background
At present, automated handling equipment such as Automated Guided Vehicles (AGVs) is widely used in the fields of warehousing and logistics, and is used for realizing Automated transportation of goods.
Generally, the power supply for the handling equipment can be provided by a battery (such as a lithium battery), and the power supply control is performed by a power supply loop. Due to the volume and structural limitations of the handling equipment, the space for placing the battery inside the handling equipment is discontinuous. That is, there is usually no complete and independent space inside the handling device for accommodating a battery of sufficient capacity.
In the prior art, in order to meet the requirement of the carrying equipment on the capacity of the battery, the battery can be split into two parts, such as a main battery and an auxiliary battery. Through the series connection of a plurality of batteries, each battery occupation space is smaller, and the flexible arrangement in the interior of the carrying equipment can be realized. Meanwhile, the total capacity of each battery can meet the requirement of the carrying equipment on the capacity of the battery.
Because there is a certain difference in the performance of different batches of batteries during the battery production process. Moreover, after the batteries are used once, the states of different batteries are not always completely consistent due to inconsistent use degrees of different batteries. For example, different capacities, different charge retention capabilities, different cycle lives, and so forth. When a plurality of batteries are used for supplying power to the carrying equipment, if the states of the batteries are inconsistent, the battery state with a better state can be rapidly reduced, the service life of the battery is influenced, and the use cost of the battery is increased. Therefore, batteries, which are usually used in a group or in a pair, need to be used in a kit after the batteries are used. That is, the batteries in different battery packs cannot be used in a mixed manner, so as to avoid the situation that the battery with more reduced performance affects the performance of other batteries.
However, in the prior art, the battery is mainly distinguished by manually whether the battery is the same group of batteries or a pair of batteries. Generally, the identification of whether the batteries are in the same group is manually performed according to the serial numbers on the batteries. For example, the same serial number is printed on the outer package of the batteries of the same group, and whether the batteries are of the same group is identified through the serial number, so that the assembly error is easy to occur.
Disclosure of Invention
The embodiment of the specification provides a power supply loop, a carrying device and a power supply control method, which are used for partially solving the problem that a battery pack arranged in the carrying device in the prior art is easy to mix and cause assembly errors.
The embodiment of the specification adopts the following technical scheme:
this specification provides a power supply circuit, power supply circuit is used for haulage equipment power supply, power supply circuit includes: the power supply comprises a first power supply, a first loop, a second power supply and a second loop; wherein:
the first loop is connected with the positive terminal of the first power supply and used for sending an identification query request to the second loop and determining whether to control a forward voltage output end to output forward voltage or not according to a query result and the identification stored in the first loop;
the second loop is connected with the positive terminal of the second power supply, the second loop is connected with the negative terminal of the first power supply, and is used for receiving an identification query request sent by the first loop, determining a query result according to an identification stored in the second loop, returning the query result to the first loop, and determining whether to output forward voltage to the negative terminal of the first power supply according to a control signal sent by the first loop;
the negative end of the second power supply is grounded and is used for providing a grounding end;
the forward voltage output end and the grounding end are connected with the load end of the carrying equipment and used for supplying power to the load end.
Optionally, the controller of the first loop establishes a communication connection with the controller of the second loop, and sends an identifier query request to the controller of the second loop; the controller of the second loop responds to the identifier inquiry request and sends the identifier stored in the controller of the second loop to the controller of the first loop; and the controller of the first loop compares whether the received identification is consistent with the identification stored in the controller of the first loop, if so, the controller controls the forward voltage output end to output forward voltage, and otherwise, the controller controls the controller not to output the forward voltage.
Optionally, when determining that the received identifier is consistent with the identifier stored in the controller of the first loop, the controller of the first loop controls the positive terminal of the first power supply to output a forward voltage through a forward voltage output terminal, and sends a control signal to the controller of the second loop;
and the controller of the second loop responds to the control signal and controls the positive end of the second power supply to output a forward voltage to the negative end of the first power supply.
Optionally, the first loop comprises a current detector;
the current detector is used for detecting the current of the forward voltage output end.
Optionally, the negative terminal of the second power supply is connected to the positive voltage output terminal through the current detector;
the current detector is connected with the controller of the first loop and provides detected current parameters; the current detector is grounded and provides a ground terminal.
Optionally, the first circuit includes a first battery detection module, and the first battery detection module is respectively connected to the first power supply and the controller of the first circuit, and provides the detected power supply parameter of the first power supply to the controller of the first circuit;
the second loop comprises a second battery detection module, the second battery detection module is respectively connected with the second power supply and the controller of the second loop, and detected power supply parameters of the second power supply are provided for the controller of the second loop.
Optionally, the first circuit includes a warning module, the warning module is connected to the controller of the first circuit, and when the first circuit determines that the forward voltage output terminal is not controlled to output the forward voltage, the warning module prompts the user.
The present specification provides a carrying apparatus, including: a first battery, a second battery; wherein:
the first battery is used for being connected with the second battery to supply power to the carrying equipment, and the first battery comprises a first circuit and a first power supply;
the second battery is used for being connected with the first battery to supply power to the carrying equipment, and the second battery comprises a second loop and a second power supply;
the first power supply, the first loop, the second power supply and the second loop form a power supply loop of the handling equipment;
the first loop is connected with the positive terminal of the first power supply and used for sending an identification query request to the second loop and determining whether to control a forward voltage output terminal to output forward voltage or not according to a query result and an identification stored in the first loop;
the second loop is connected with the positive end of the second power supply, the second loop is connected with the negative end of the first power supply, and is used for receiving an identifier query request sent by the first loop, determining a query result according to an identifier stored in the second loop and returning the query result to the first loop, and determining whether to output forward voltage to the negative end of the first power supply according to a control signal sent by the first loop;
the negative end of the second power supply is grounded and is used for providing a grounding end;
and the forward voltage output end and the grounding end are connected with the load end of the carrying equipment and used for supplying power to the load end.
Optionally, the first circuit comprises: the device comprises a first field effect transistor, a first driver and a first controller; the second circuit includes: the second field effect transistor, the second driver and the second controller; wherein:
the positive end of the first power supply is connected with the first field effect transistor, the first field effect transistor is connected with the first driver, and the first driver is connected with the first controller; the first controller is used for establishing a communication loop with the second controller, and when the first battery is connected with the second battery, an identification inquiry request is sent to the second controller through the communication loop; judging whether the first field effect tube is controlled to output forward voltage through the first driver or not according to the identifier returned by the second controller and the identifier stored in the first controller;
the positive end of the second power supply in the second loop is connected with the second field effect transistor, the second field effect transistor is connected with the second driver, and the second driver is connected with the second controller; the second controller is used for returning the identifier stored in the second controller to the first controller according to the received identifier query request sent by the first controller; the second controller is used for controlling the second field effect transistor to output forward voltage through the second driver according to the received control instruction sent by the first controller.
Optionally, the first controller is configured to send a control instruction to the second controller when the identifier returned by the second controller is consistent with the identifier stored in the first controller, and control the first fet to output a forward voltage through the first driver.
Optionally, the first battery further comprises a warning module;
and the first controller is used for controlling the warning module of the first battery to prompt when the identifier returned by the second controller is inconsistent with the identifier stored in the first controller.
Optionally, the first circuit further comprises a first battery detection module; the first battery detection module is used for detecting power supply parameters of the first power supply, is connected with the first controller and provides the detected power supply parameters.
Optionally, the second loop further comprises a second battery detection module; the second battery detection module is used for detecting power supply parameters of the second power supply, is connected with the second controller and provides the detected power supply parameters.
The specification provides a power supply control method, which is applied to a power supply loop in a handling device, wherein the power supply loop consists of a first power supply in a first battery, a first loop in the first battery, a second power supply in a second battery and a second loop in the second battery, and the first loop and the second loop are used for controlling whether the power supply loop provides a forward voltage for a load end of the handling device or not; the method comprises the following steps:
when the first loop is determined to be connected with the second loop, the first loop sends an identification inquiry request to the second loop;
judging whether the query result is consistent with the identifier stored in the first loop or not according to the received query result;
if so, controlling the first loop to output forward voltage through a forward voltage output end, and controlling the second loop to output forward voltage through the first power supply and the first loop;
if not, sending a prompt message to prompt that the first battery is not matched with the second battery.
Optionally, when it is determined that the first loop is connected to the second loop, the sending, by the first loop, an identifier query request to the second loop specifically includes:
when the serial port of the first battery is determined to be connected with the serial port of the second battery, the first loop and the second loop establish a communication loop;
and the first loop sends the identifier query request to the second loop through the communication loop.
Optionally, determining, according to the received query result, whether the query result is consistent with the identifier stored in the first loop, specifically including:
the second loop responds to the identification query request and returns the identification stored in the second loop to the first loop as a query result;
and the first loop determines the identifier stored in the second loop according to the received query result, and judges whether the identifier stored in the second loop is consistent with the identifier stored in the first loop.
Optionally, the first battery further comprises a warning module; sending prompt information, specifically comprising:
and controlling the warning module to send the prompt information according to the prompt information stored in the first loop.
The embodiment of the specification adopts at least one technical scheme which can achieve the following beneficial effects:
after the first loop and the second loop are connected, an inquiry request is sent to the second loop through the first loop to obtain the identification stored in the second loop, and whether forward voltage is output through the forward voltage output end or not is determined to supply power to the carrying equipment. And the second loop can also determine whether to output forward voltage through the first power supply and the first loop according to a control signal sent by the first loop. Therefore, even if the battery pack in the conveying equipment is mistakenly assembled, the battery pack can not output forward voltage, and various problems caused by mixed use of batteries among the battery packs are avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic structural diagram of a power supply circuit provided in an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a handling apparatus provided in an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a handling apparatus provided in an embodiment of the present disclosure;
fig. 4 is a schematic flow chart of power supply control provided in an embodiment of the present disclosure.
Detailed Description
To make the objects, technical solutions and advantages of the present disclosure more apparent, the technical solutions of the present disclosure will be clearly and completely described below with reference to specific embodiments of the present disclosure and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without making any creative effort belong to the protection scope of the present application.
The technical solutions provided by the embodiments of the present description are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of a power supply circuit provided in an embodiment of the present disclosure, where the power supply circuit is used to supply power to a handling apparatus. In addition, in order to solve the problem that a battery assembly error (that is, a battery is mixed) is likely to occur when a battery pack formed by combining a plurality of batteries supplies power in the conventional carrying equipment, the power supply circuit is a power supply circuit formed by two batteries in common in the present specification. The first power supply and the first loop of the power supply loop are positioned in the first battery, and the second power supply and the second loop of the power supply loop are positioned in the second battery. The first battery and the second battery can be connected through an interface of a power supply loop to form the power supply loop. And when the first battery and the second battery are connected, the cooperative control of the first battery and the second battery can be realized by establishing a communication loop.
In fig. 1, the first loop is connected to the positive terminal of the first power supply, and configured to send an identifier query request to the second loop, and determine whether to control the forward voltage output terminal to output the forward voltage according to a query result and an identifier stored in the first loop.
The second loop is connected with the positive terminal of the second power supply and is connected with the negative terminal of the first power supply through the interface of the power supply loop of the first battery and the second battery. The second loop is used for receiving the identifier query request sent by the first loop, determining a query result according to the identifier stored in the second loop and returning the query result to the first loop. And is also used for determining whether to output a forward voltage to the first power supply negative terminal according to a control signal sent by the first loop.
The negative terminal of the second power supply is grounded for providing a ground terminal.
The forward voltage output end and the grounding end are connected with the load end of the carrying equipment and used for supplying power to the load end.
Generally, in order to check whether the performance of the battery reaches the standard in the production process of the battery, a round of charging and discharging processes are generally required, and for the battery produced as a battery pack, the process of detecting the charging and discharging performance is equivalent to one-time use process of the battery. In order to avoid the mix-up of the batteries after the initial use, in the present specification, the batteries to be subjected to the performance inspection as a set in the battery production are also required to be assembled as a set in the subsequent assembly. For example, when the transport facility is produced, the transport facility is assembled in accordance with the grouping determined when the battery is produced.
In this specification, in order to avoid the mix-up after the shipment of the battery, when the battery is produced, the identifier of the group to which the battery belongs is stored in the circuit of the battery for each individual battery in each group of batteries. That is, the identity of each group of cells is globally unique for distinguishing between different groups of cells. For the same group of cells, the same identification is stored in the loop of the cell belonging to the group. For example, the same serial number is stored in the circuit of the same battery pack, and the serial numbers stored in the circuits of different battery packs are different.
In addition, regarding a group of batteries as a whole, only one controller can control the operating state of the battery pack, and therefore, the battery pack includes a main battery for sending a control command and a sub-battery for receiving the control command. In this specification, the battery pack is composed of two batteries, that is, a first battery and a second battery are composed of the battery pack, and the first battery is a main battery and the second battery is a sub-battery.
Specifically, the first loop of the first battery stores an identifier, and the first loop is connected to the positive terminal of the first power supply and can control whether the forward voltage output terminal outputs the forward voltage. Also, as can be seen from fig. 1, although both ends of the forward voltage output terminal (i.e., the P +/C + terminal and the P-/C-terminal in fig. 1) are disposed on the first battery, a complete power supply loop cannot be formed only by the first loop and the first power supply. The first battery is connected with the second battery, and then a complete power supply loop can be formed by the first loop, the first power supply, the second loop and the second power supply.
The first battery and the second battery therefore each comprise an interface for a supply circuit which makes it possible to close the supply circuit, which interface is switched on after the first battery and the second battery have been connected. In addition, since the first battery is a main battery and a sub-battery (i.e., a second battery) needs to be controlled, the first battery and the second battery further include interfaces of communication circuits for communication, respectively, and the interfaces of the communication circuits connect the first circuit and the second circuit after the first battery and the second battery are connected, so that communication between the first circuit and the second circuit is possible.
Furthermore, the second loop of the second battery also stores the identifier, and the second loop is connected with the positive terminal of the second power supply, so that whether the forward voltage is output to the interface of the power supply loop of the first battery or not can be controlled. As can be seen from fig. 1, the interface of the power supply loop of the second battery is connected to the negative electrode of the first power supply, so that when the interface of the power supply loop is in a connected state, the second loop can control whether to output a forward voltage to the negative electrode of the first power supply through the interface of the power supply loop.
And after the first battery is connected with the interface of the second power supply loop, the negative pole end of the second power supply of the second battery is connected with the interface of the power supply loop of the first battery, and can be grounded to provide a grounding end. Of course, for the battery pack, the grounding terminal is specifically in the first battery or the second battery after the first battery and the second battery are connected, and the description is not limited thereto, and the grounding terminal may be in the first battery as shown in fig. 1. Of course, the ground terminal can be provided for the power supply circuit only after the first battery is connected with the second battery.
In this description, the power supply loop may send an identification query request to the controller of the second loop through the communication loop by the controller of the first loop after the first battery is connected to the second battery, that is, after the power supply loop is formed. The controller of the second loop returns the query result (i.e., the identifier stored in the controller of the second loop) to the controller of the first loop according to the identifier stored in the controller in response to the identifier query request. Therefore, the controller of the first loop can compare the received identifier with the identifier stored in the controller of the first loop, and if the received identifier is consistent with the identifier stored in the controller of the first loop, the controller of the first loop controls the forward voltage output end to output the forward voltage, otherwise, the controller of the first loop controls the forward voltage not to be output.
And the controller of the first loop can also send a control instruction to the controller of the second loop through the communication loop when the received identification is determined to be consistent with the stored identification. And the controller of the second loop can respond to the control signal according to the received control instruction and control the positive terminal of the second power supply to output forward voltage to the negative terminal of the first power supply.
In addition, in the power supply loop, the first battery further comprises a current detector, and the current detector is used for detecting whether the power supply loop can normally supply power. Thus, the negative terminal of the second power supply can be connected to the positive voltage output terminal through the current detector. And the current detector is connected with the controller of the first loop and provides detected current parameters, and the current detector is grounded and provides a grounding terminal.
Based on the power supply loop shown in fig. 1, when the first loop and the second loop supply power to the handling device after being connected, an inquiry request is sent to the second loop through the first loop to obtain the identifier stored in the second loop, and it is determined whether to output the forward voltage through the forward voltage output end. And the second loop can also determine whether to output forward voltage through the first power supply and the first loop according to a control signal sent by the first loop. Therefore, even if the battery pack in the conveying equipment is mistakenly assembled, the battery pack can not output forward voltage, and various problems caused by mixed use of batteries among the battery packs are avoided.
The present specification provides a carrying apparatus as shown in fig. 2, the carrying apparatus including: a first battery 100 and a second battery 102. The first battery 100 is used for connecting with the second battery 102 to supply power to the handling equipment, and the first battery 100 includes a first circuit and a first power source 104. The second battery 102 is used for connecting with the first battery 100 to supply power to the handling apparatus, and the second battery 102 includes a second loop and a second power source 106.
The first power source 104, the first loop, the second power source 106 and the second loop form a power supply loop of the handling apparatus. The first loop is connected to the positive terminal of the first power supply 106, and configured to send an identifier query request to the second loop, and determine whether to control the forward voltage output terminal to output the forward voltage according to a query result and an identifier stored in the first loop. The second loop is connected to the positive terminal of the second power supply 106, the second loop is connected to the negative terminal of the first power supply 104, and is configured to receive an identifier query request sent by the first loop, determine a query result according to an identifier stored in the second loop, return the query result to the first loop, and determine whether to output a forward voltage to the negative terminal of the first power supply 104 according to a control signal sent by the first loop. The negative terminal of the second power supply 106 is grounded to provide a ground terminal. The forward voltage output end and the grounding end are connected with the load end of the carrying equipment and used for supplying power to the load end.
And, the first circuit includes: a first fet 1042, a first driver 1044, and a first controller 1046; the second circuit includes: a second fet 1062, a second driver 1064, and a second controller 1066, wherein:
the positive terminal of the first power supply 104 is connected to the first MOS transistor 1042, the first MOS transistor 1042 is connected to the first driver 1044, and the first driver 1044 is connected to the first controller 1046; the first controller 1046 is configured to establish a communication loop with the second controller 1066, and when the first battery 100 is connected to the second battery 102, send an identifier query request to the second controller 1066 through the communication loop; according to the identifier returned by the second controller 1066 and the identifier stored in the first controller 1046, it is determined whether to control the first MOS transistor 1042 to output a forward voltage through the first driver 1044. The first Driver 1044 and the second Driver 1064 are MOS drivers, and the first controller 1046 and the second controller 1066 may be specifically Micro Control Units (MCUs), which will be described later as an example.
The positive terminal of the second power supply 106 in the second battery 102 is connected to the second MOS transistor 1062, the second MOS transistor 1062 is connected to the second driver 1064, and the second driver 1064 is connected to the second controller 1066; the second controller 1066 is configured to, according to the received identifier query request sent by the first controller 1046, return the identifier stored in the second controller 1066 to the first controller 1046; the second controller 1066 is configured to control the second MOS transistor 1062 to output a forward voltage according to a received control instruction sent by the first controller 1046 through the second driver 1064.
The first controller 1046 is configured to send a control instruction to the second controller 1066 when the identifier returned by the second controller 1066 is consistent with the identifier stored in the first controller 1046, and control the first MOS transistor 1042 to output a forward voltage through the first driver 1044.
In addition, the specification also provides a schematic diagram of another carrying device, as shown in fig. 3. An alert module 108 is also included in the first battery 100 in the handling apparatus.
The first controller 1046 is configured to control the alert module 108 of the first battery 100 to alert when the identifier returned by the second controller 1066 is inconsistent with the identifier stored in the first controller 1046. The first battery 100 and the second battery 102 are not compatible with each other, and therefore, the battery assembly error and the battery mixing are caused. At this time, the first controller 1046 may not send a control command to the second controller 1066, and the second controller 1066 does not control the second loop to supply power.
The warning module 108 may be specifically an electrical component such as a Light Emitting Diode (LED), a buzzer, etc., and may warn through Light or sound, and the description does not limit what kind of module the warning module specifically is.
Further, the first loop may further include a current detector 110 in the handling apparatus. The current detector 110 is used for detecting the current at the forward voltage output terminal, and is connected to the first controller 1046 for providing the detected current parameter.
In addition, in this specification, the first battery 100 and the second battery 102 may further include: the first battery detection module 112 and the second battery detection module 114 are respectively used for detecting power parameters of the first power source 104 and the second power source 106. Of course, specific detection of which power supply parameters can be set according to needs, and this specification is not limited, for example, detecting the voltage of the power supply to determine the remaining capacity of the power supply, or detecting the temperature of the power supply to determine whether the power supply is overheated and needs to stop working, and the like.
Accordingly, the first battery detection module 112 detects the power parameter of the first power source 104 by being connected to the first power source 104, and transmits the detected power parameter to the first controller 1046 by being connected to the first controller 1046. The first controller 1046 may determine whether the operating state of the first power supply 104 is normal according to the received power supply parameter, and may control the first MOS transistor 1042 to stop outputting the forward voltage through a control instruction sent to the first driver 1044 when it is determined that the operating state of the first power supply 104 is abnormal. The power supply circuit is disconnected to stop outputting the forward voltage through the forward voltage output terminal.
Similarly, the second battery detection module 114 detects the power parameter of the second power source 106 by being connected to the second power source 106, and transmits the detected power parameter to the second controller 1066 by being connected to the second controller 1066. The second controller 1066 can determine whether the operating state of the second power supply 106 is normal according to the received power supply parameters. And when it is determined that the operating state of the second power supply 106 is abnormal, the second MOS transistor 1062 may be controlled to stop outputting the forward voltage by a control instruction sent to the second driver 1064. The power supply circuit is disconnected to stop outputting the forward voltage through the forward voltage output terminal.
Further, the first controller 1046 controls the warning module 108 to prompt when the current parameter transmitted by the current detector 110 or the power parameter transmitted by the first battery detection module 112 exceeds a preset threshold. Or the second controller 1066 forwards the power parameter detected by the second battery detection module 114 to the first controller 1046 when the power parameter transmitted by the second battery detection module 114 exceeds a preset threshold. The first controller 1046 controls the warning module 108 to prompt when receiving the power parameter detected by the second battery detection module 114 and exceeding the preset threshold.
The specific electronic components of the alert module 108 are not limited by the specification, and can be set as desired. For example, the warning module 108 may be an LED or a buzzer, etc. When the first controller 1046 determines that the prompt information needs to be sent, the warning module 108 may be controlled to send the prompt information according to the prompt information stored in the first controller 1046. For example, if the warning module 108 is an LED, the first controller 1046 stores a light control signal for prompting, and the first controller 1046 controls the LED to display a light prompt according to the light control signal.
Furthermore, the first loop circuit may further include a third MOS transistor 1048 for controlling whether a reverse voltage is input through a forward voltage output terminal to charge the first power source 104 and the second power source 106. The third MOS 1048 is connected to the first driver 1044, and the first controller 1046 controls whether the third MOS 1048 inputs a reverse voltage through the forward voltage output terminal by sending an instruction to the first driver 1044.
It should be noted that, since the specifications of the first power source 104 and the second power source 106 may not be identical, the corresponding thresholds of the first battery detection module 112 and the second battery detection module 114 may not be identical.
Based on the transport apparatus shown in fig. 2, when the first loop and the second loop in the transport apparatus supply power to the transport apparatus after being connected, an inquiry request is sent to the second loop through the first loop to obtain the identifier stored in the second loop, and it is determined whether to output the forward voltage through the forward voltage output end. And the second loop can also determine whether to output forward voltage through the first power supply and the first loop according to a control signal sent by the first loop. Even if the battery pack in the conveying equipment is provided with errors, the battery pack can not output forward voltage, and various problems caused by mixed use of batteries among the battery packs are avoided.
Based on the power supply loop shown in fig. 1, the present specification further provides a schematic flow chart of the power supply control method, as shown in fig. 4.
Fig. 4 is a process of power supply control provided in an embodiment of the present specification, which specifically includes the following steps:
s200: when the first loop is determined to be connected with the second loop, the first loop sends an identification inquiry request to the second loop.
In this specification, when it is determined that the serial port of the first battery is connected to the serial port of the second battery, the first loop may send the identifier query request to the second loop through a communication loop established with the second loop.
Specifically, in this specification, a communication loop may be established by a controller of a first loop with a controller of a second loop. And when the first battery is connected with the second battery, the first battery is connected with an interface of a power supply loop of the second battery, and the first battery is connected with a serial port of a communication loop of the second battery. The controller of the first loop may first determine whether the first loop is connected to the second loop, and if so, send an identifier query request to the controller of the second loop.
Specifically, the controller of the first loop may determine whether the first loop is connected to the second loop according to whether a communication loop is established with the controller of the second loop. That is, when it is determined that the first loop establishes a communication loop with the second loop, an identification inquiry request is sent to the second loop.
In addition, in this specification, the controller of the first loop may determine whether the first loop is connected to the second loop after receiving the power supply instruction. That is, the controller of the first loop may determine whether the first loop establishes a communication loop with the second loop according to the received power supply instruction, and if so, determine that the first loop is connected with the second loop, and send an identifier query request to the second loop. If not, otherwise, determining that the first loop is not connected with the second loop, and not sending the identification query request.
In this specification, when determining whether to establish a communication loop, the controller of the first loop may determine whether to receive, via the communication serial port, communication information returned by the control of the second loop by sending a communication request to the second loop controller, and if the communication information returned by the controller of the second loop is received, it indicates that the communication loop has been established. Of course, there are various methods for determining whether a communication loop is established in the prior art, and the specific method used in this specification is not limited.
The power supply command may be sent through a key of the transport apparatus connected to the controller of the first circuit of the first battery, or may be sent to the controller of the first circuit through the wireless communication module. For example, a switch button is disposed on the first battery, and when a user starts the switch button, the controller of the first circuit receives a power supply instruction. Or a Wireless-Fidelity (WiFi) communication module is disposed on the first battery, and the controller of the first circuit may receive a power supply instruction through a WiFi signal if the power supply instruction is sent to the controller of the first circuit through other devices.
S202: and judging whether the query result is consistent with the identifier stored in the first loop or not according to the received query result, if so, executing a step S204, and otherwise, executing a step S206.
In this specification, in response to the received identifier query request, the controller of the second loop returns the identifier stored in the controller of the second loop to the controller of the first loop as a query result, and the controller of the first loop determines the identifier stored in the controller of the second loop according to the received query result, and determines whether the identifier stored in the controller of the second loop is consistent with the identifier stored in the controller of the first loop, if so, step S204 is executed, and if not, step S206 is executed.
S204: and controlling the first loop to output forward voltage through a forward voltage output end, and controlling the second loop to output forward voltage through the first power supply and the first loop.
In this specification, the controller of the first circuit determines that power can be supplied to the conveyance device when determining that the stored identification of the second circuit matches the stored identification of the controller. The first loop can be controlled to output the forward voltage through the forward voltage output terminal, and the second loop can be controlled to output the forward voltage through the first power supply and the first loop.
Specifically, the controller of the first loop may send a command for supplying power to the controller of the second loop through the communication loop, and the controller of the second loop may control the second loop to output a forward voltage to the positive voltage output terminal through the first power supply and the first loop according to the received command.
S206: and sending prompt information to prompt that the first battery is not matched with the second battery.
In this specification, the controller of the first circuit may determine that the first battery and the second battery are incorrectly assembled and do not belong to the same battery pack when determining that the identifier stored in the second circuit is not identical to the identifier stored in the controller. If power is supplied through the first circuit, the battery may be mixed, and thus power cannot be supplied to the transport apparatus. In addition, the first circuit can also send prompt information to prompt that the first battery is not matched with the second battery.
In addition, the first battery can also comprise a warning module, and the warning module can be arranged according to needs, such as an LED or a buzzer and the like. When the controller of the first loop determines that the prompt information needs to be sent, the warning module can be controlled to send the prompt information according to the prompt information stored in the controller of the first loop. For example, if the warning module is an LED, the controller of the first loop may store a light control signal for prompting, and the controller of the first loop may control the LED to display a light prompt according to the light control signal.
For a specific power supply control process, reference may be made to the description of the power supply process of the power supply loop and the description of the power supply process of the handling apparatus in the foregoing description, and details of this description are not repeated herein.
Based on the power supply control method shown in fig. 4, after the first loop and the second loop are connected, an inquiry request is sent to the second loop through the first loop to obtain the identifier stored in the second loop, and it is determined whether to output a forward voltage through the forward voltage output end to supply power to the handling equipment. And the second loop can also determine whether to output forward voltage through the first power supply and the first loop according to a control signal sent by the first loop. Even if the battery pack in the conveying equipment is mistakenly assembled, the battery pack can not output forward voltage, and the problem caused by mixed use of batteries among the battery packs is avoided.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or apparatus comprising the element.
The above description is only an example of the present specification, and is not intended to limit the present specification. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present specification.
Claims (18)
1. A power supply circuit for supplying power to a handling apparatus, the power supply circuit comprising: the power supply comprises a first power supply, a first loop, a second power supply and a second loop; the first circuit includes: the power supply comprises a first field effect transistor, a first driver and a first controller, wherein the positive terminal of a first power supply is connected with the first field effect transistor, the first field effect transistor is connected with the first driver, and the first driver is connected with the first controller; the second circuit includes: the positive end of the second power supply is connected with the second field effect transistor, the second field effect transistor is connected with the second driver, and the second driver is connected with the second controller; wherein:
the first loop is connected with the positive terminal of the first power supply and used for sending an identification query request to the second loop and determining whether to control a forward voltage output end to output forward voltage or not according to a query result and the identification stored in the first loop;
the second loop is connected with the positive terminal of the second power supply, the second loop is connected with the negative terminal of the first power supply, and is used for receiving an identifier query request sent by the first loop, determining a query result according to an identifier stored in the second loop, returning the query result to the first loop, and determining whether to output forward voltage to the negative terminal of the first power supply according to a control signal sent by the first loop;
the negative end of the second power supply is grounded and is used for providing a grounding end;
the forward voltage output end and the grounding end are connected with the load end of the carrying equipment and used for supplying power to the load end.
2. The power supply circuit of claim 1, wherein the controller of the first circuit establishes a communication connection with the controller of the second circuit, and sends an identification query request to the controller of the second circuit; the controller of the second loop responds to the identifier inquiry request and sends the identifier stored in the controller to the controller of the first loop; and the controller of the first loop compares whether the received identification is consistent with the identification stored in the controller of the first loop, if so, the controller controls the forward voltage output end to output forward voltage, and otherwise, the controller controls the controller not to output the forward voltage.
3. The power supply loop of claim 1, wherein the controller of the first loop controls the first power supply positive terminal to output a forward voltage through a forward voltage output terminal and sends a control signal to the controller of the second loop upon determining that the received identification is consistent with the identification stored by the controller of the first loop;
and the controller of the second loop responds to the control signal and controls the positive end of the second power supply to output a forward voltage to the negative end of the first power supply.
4. The power supply loop of claim 1, wherein the first loop comprises a current detector;
the current detector is used for detecting the current of the forward voltage output end.
5. The power supply circuit of claim 4, wherein the negative terminal of the second power supply is connected to ground via the current detector;
the current detector is connected with the controller of the first loop and provides detected current parameters; the current detector is grounded and provides a grounding terminal.
6. The power supply circuit as claimed in claim 1, wherein the first circuit comprises a first battery detection module, the first battery detection module is respectively connected to the first power supply and the controller of the first circuit, and provides the detected power supply parameter of the first power supply to the controller of the first circuit;
the second loop comprises a second battery detection module, the second battery detection module is respectively connected with the second power supply and the controller of the second loop, and detected power supply parameters of the second power supply are provided for the controller of the second loop.
7. The power supply circuit as claimed in claim 1, wherein the first circuit comprises an alarm module, the alarm module is connected to the controller of the first circuit, and the alarm module prompts the user when the first circuit determines that the forward voltage output terminal is not controlled to output the forward voltage.
8. A handling apparatus, characterized in that the handling apparatus comprises: a first battery, a second battery; wherein:
the first battery is used for being connected with the second battery to supply power to the carrying equipment, and the first battery comprises a first loop and a first power supply;
the second battery is used for being connected with the first battery to supply power to the carrying equipment, and the second battery comprises a second loop and a second power supply;
the first power supply, the first loop, the second power supply and the second loop form a power supply loop of the handling equipment; the first circuit includes: the power supply comprises a first field effect transistor, a first driver and a first controller, wherein the positive terminal of the first power supply is connected with the first field effect transistor, the first field effect transistor is connected with the first driver, and the first driver is connected with the first controller; the second circuit includes: the positive end of the second power supply is connected with the second field effect transistor, the second field effect transistor is connected with the second driver, and the second driver is connected with the second controller;
the first loop is connected with the positive terminal of the first power supply and used for sending an identification query request to the second loop and determining whether to control a forward voltage output end to output forward voltage or not according to a query result and the identification stored in the first loop;
the second loop is connected with the positive terminal of the second power supply, the second loop is connected with the negative terminal of the first power supply, and is used for receiving an identifier query request sent by the first loop, determining a query result according to an identifier stored in the second loop, returning the query result to the first loop, and determining whether to output forward voltage to the negative terminal of the first power supply according to a control signal sent by the first loop; the negative end of the second power supply is grounded and is used for providing a grounding end;
and the forward voltage output end and the grounding end are connected with the load end of the carrying equipment and used for supplying power to the load end.
9. The transfer apparatus of claim 8, wherein:
the first controller is used for establishing a communication loop with the second controller, and when the first battery is connected with the second battery, an identification inquiry request is sent to the second controller through the communication loop; judging whether the first field effect transistor is controlled to output forward voltage through the first driver or not according to the identifier returned by the second controller and the identifier stored in the first controller;
the second controller is used for returning the identifier stored in the second controller to the first controller according to the received identifier query request sent by the first controller; the second controller is further used for controlling the second field effect transistor to output forward voltage through the second driver according to the received control instruction sent by the first controller.
10. The carrier apparatus as claimed in claim 9, wherein the first controller is configured to send a control command to the second controller when the identifier returned by the second controller and the identifier stored in the first controller are identical, and to control the first fet to output a forward voltage through the first driver.
11. The transfer apparatus of claim 9, wherein the first battery further comprises an alert module;
and the first controller is used for controlling the warning module of the first battery to prompt when the identifier returned by the second controller is inconsistent with the identifier stored in the first controller.
12. The transfer apparatus of claim 9, wherein the first loop further comprises a current detector; wherein: the current detector is used for detecting the current of the forward voltage output end, is connected with the first controller and provides detected current parameters.
13. The transfer apparatus of claim 9, wherein the first circuit further comprises a first battery detection module; the first battery detection module is used for detecting power supply parameters of the first power supply, is connected with the first controller and provides the detected power supply parameters.
14. The transfer apparatus of claim 9, wherein the second loop further comprises a second battery detection module; the second battery detection module is used for detecting power supply parameters of the second power supply, is connected with the second controller and provides the detected power supply parameters.
15. A power supply control method applied to a power supply circuit in a handling apparatus, the power supply circuit being composed of a first power supply in a first battery, a first circuit in the first battery, a second power supply in a second battery, and a second circuit in the second battery, the first circuit comprising: the power supply comprises a first field effect transistor, a first driver and a first controller, wherein the positive terminal of a first power supply is connected with the first field effect transistor, the first field effect transistor is connected with the first driver, and the first driver is connected with the first controller; the second circuit includes: the positive end of the second power supply is connected with the second field effect transistor, the second field effect transistor is connected with the second driver, and the second driver is connected with the second controller; wherein:
the first loop and the second loop are used for controlling whether the power supply loop provides forward voltage to a load end of the carrying equipment or not; the method comprises the following steps:
when the first loop is determined to be connected with the second loop, the first loop sends an identification inquiry request to the second loop;
judging whether the query result is consistent with the identifier stored in the first loop or not according to the received query result;
if so, controlling the first loop to output forward voltage through a forward voltage output end, and controlling the second loop to output forward voltage through the first power supply and the first loop;
if not, sending a prompt message to prompt that the first battery is not matched with the second battery.
16. The method as claimed in claim 15, wherein when it is determined that the first loop is connected to the second loop, the sending, by the first loop, an identity query request to the second loop specifically comprises:
when the serial port of the first battery is determined to be connected with the serial port of the second battery, the first loop and the second loop establish a communication loop;
and the first loop sends the identifier query request to the second loop through the communication loop.
17. The method of claim 15, wherein determining whether the query result is consistent with the identifier stored in the first loop according to the received query result comprises:
the second loop responds to the identification query request and returns the identification stored by the second loop to the first loop as a query result;
and the first loop determines the identifier stored in the second loop according to the received query result, and judges whether the identifier stored in the second loop is consistent with the identifier stored in the first loop.
18. The method of claim 15, wherein the first battery further comprises an alert module;
sending prompt information, specifically comprising:
and controlling the warning module to send the prompt information according to the prompt information stored in the first loop.
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