Modularized distributed power supply system for humanoid robot

Abstract

The invention relates to the technical field of power supply, and discloses a humanoid robot modular distributed power supply system which comprises a power supply battery pack, a power management distribution board and a plurality of power utilization modules. The power utilization module at least comprises a control computing power unit, a sensing system, an upper limb joint module, a lower limb joint module and other joint modules; the power management distribution board is electrically connected with the power supply battery pack and each power utilization module. The power management distribution board comprises an MCU control unit, a DCDC power supply unit, a soft start unit, a high-power output unit and a voltage and current detection unit. Through a modular distributed power-on strategy and in combination with soft start pre-charging, voltage and current real-time detection and a regenerative braking absorption unit, voltage and current peaks generated at the moment of power-on of the capacitive high-power load are remarkably suppressed, the risk that a power device is damaged due to overvoltage and overcurrent impact is fundamentally avoided, and the reliability of the power device is improved. And the system reliability and the service life are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of power supply technology, and in particular to a modular distributed power supply system for humanoid robots. Background Technology

[0002] In existing technical solutions, the entire humanoid robot includes a power supply battery pack, a sensing system, an MCU control unit and a computer computing unit, two arms and two dexterous hands, two leg motor joints, other motor joints, and a power management board (such as...). Figure 3 (As shown). All the above units are powered by a battery pack. When the external switch button is pressed, the battery pack outputs power to the power management board, which then outputs control 1 to lock the switch, allowing for continuous power output. Simultaneously, the power management board and battery pack communicate via RS485. At the same time, the power management board performs both direct power output and voltage-buck conversion upon power-up, synchronously outputting power to the five main units described above. These systems and joints will all be powered on and operational simultaneously, providing kinetic energy to the entire humanoid robot.

[0003] However, since all the devices and joints on the humanoid robot that require power supply operate simultaneously through the power management board outputting voltages of different amplitudes, and since the motor joints are capacitive loads at the moment of power-on, requiring charging at that moment, and each motor joint in the legs has very high power, the synchronous power supply and high-power load will cause the voltage and current peaks on the bus to be very large at the moment of power-on, which will cause the power devices in all the motor joints of the humanoid robot to be subjected to high voltage and high current impacts. Over time, this will burn out the power management distribution board and the motor joints on the humanoid robot, causing irreversible damage, and simultaneously increasing maintenance costs and time investment. Summary of the Invention

[0004] This invention provides a modular distributed power supply system for humanoid robots to solve existing technical problems, thereby resolving the issue of power devices being damaged by overvoltage and overcurrent impacts.

[0005] To address the aforementioned technical problems, according to one aspect of the present invention, more specifically, a modular distributed power supply system for a humanoid robot includes: a power supply battery pack, a power management and distribution board, and multiple power consumption modules; the power consumption modules include at least a control computing unit, a sensing system, an upper limb joint module, a lower limb joint module, and other joint modules; The power management distribution board is electrically connected to the power supply battery pack and each power consumption module respectively; The power management distribution board includes: an MCU control unit, a DC-DC power supply unit, a soft-start unit, a high-power output unit, a voltage and current detection unit, and a power-on success feedback unit; The MCU control unit is configured to: (1) Output enable signals to each power module in a preset order. The enable signals are used to control the DC-DC power supply unit to supply power to the control computing unit and the sensing system. The enable signals are also used to control the soft start unit and the high power output unit to supply power to the upper limb joint module, the lower limb joint module and other joint modules. (2) The voltage and current detection unit is used to detect the power supply parameters of each power module in real time and feed them back to the MCU control unit; (3) The power-on success feedback unit is used to receive the power-on success signal of each power module and feed it back to the MCU control unit; The MCU control unit only initiates the power-on process for the next level power module after the power-on success signal of the current level power module is confirmed. The specific steps for power-on control of the modular distributed power supply system for humanoid robots are as follows: Step 1: In response to the power-on command, start the power supply battery pack to supply power to the power management distribution board and establish a communication connection between the two; Step 2: The MCU control unit of the power management distribution board generates the first-level enable signal in a preset order, and pre-charges the first-level power module through the soft-start unit; Step 3: Monitor the power supply parameters during the pre-charging process through the voltage and current detection unit. If the parameters are normal, control the high-power output unit to supply full power to the power module. If abnormal power supply parameters are detected or a power-on success signal is not received within the preset time, repeat the power-on steps. If the repeated attempts fail after exceeding the preset number of times, execute a global power-off operation. Step 4: Confirm receipt of the power-on success signal from the first-level power module; Step 5: Repeat steps 2-4 to power on each subsequent power module in turn until all power modules are successfully powered on.

[0006] Furthermore, the high-power output unit is either a MOSFET device or a relay switching circuit.

[0007] Furthermore, the power management distribution board also includes a regenerative braking unit, which is connected to the output terminal of the high-power output unit and is used to absorb the reverse electromotive force and current spikes generated when the power module is powered on or running.

[0008] Furthermore, the MCU control unit establishes a communication connection with the power supply battery pack via an RS485 communication bus to exchange battery power information and power supply information.

[0009] Furthermore, the preset order of outputting enable signals to each power module in a predetermined sequence is as follows: First, power is supplied to the control computing unit; Secondly, power is supplied to the sensing system; Then power is supplied to the upper limb joint module, lower limb joint module, and other joint modules in sequence.

[0010] Furthermore, the MCU control unit is also configured to: if it does not receive a power-on success signal from the current power module within a preset number of times, determine that the current power-on has failed and shut down the power supply output of the entire system.

[0011] Furthermore, the power-on success feedback unit is a digital I / O input interface used to receive TTL level signals from the power-consuming module.

[0012] Furthermore, the power-on success feedback unit obtains a comprehensive power-on health assessment coefficient based on the proximity of the current measured voltage to the rated voltage, the proximity of the current measured current to the rated current, and the stability of the current change. It then determines whether the signal fed back by the current power module is a successful power-on signal based on whether this comprehensive power-on health assessment coefficient exceeds the power-on success threshold. The specific formula is as follows: ; In the formula, This represents the overall power-on health assessment coefficient; This indicates the voltage score of the current power module (a voltage score of 0 indicates that the deviation between the current measured voltage and the rated voltage of the power module has reached the maximum allowable value, i.e., the allowable voltage deviation; a score of 1 indicates that the deviation between the current measured voltage and the rated voltage of the power module has reached the minimum allowable value). This indicates the current score of the current power module (the current score reflects whether the load is operating within the normal power range, effectively avoiding overcurrent or light load abnormalities). This represents the stability score of the current power module (allowable value of current derivative, which defines a "scale" of the rate of change of current). The advantage of the product in the above formula is that the multiplicative relationship implies that a serious failure in any aspect (a score close to 0) will lead to a decrease in the overall coefficient. It's close to zero. This meets the design requirements for system safety: voltage, current, and stability are all essential.

[0013] For example, even if the voltage and current are perfect ( , ), as long as there is a huge current surge ( The result was still a power-on failure. This directly solves the current spike problem mentioned in the background technology. Multiplication also better reflects the "weakest link effect" than methods such as weighted averaging, and is more beneficial for system protection.

[0014] Among them, voltage score This indicates how close the current measured voltage of the power module is to the rated voltage. The specific formula is as follows: ; In the formula, This indicates the current measured voltage (in V) of the power module. This indicates the rated voltage of the power module (set according to the type of power module, for example, 24V or 19V for the MCU control section, 12V or 5V for the sensing system, etc.). This indicates the allowable voltage deviation (typically ±5% of the rated voltage or as specified in the design, used to calculate the score).

[0015] Among them, the current score This indicates how close the current measured by the power module is to the rated current. The specific formula is as follows: ; In the formula, This indicates the current measured current (in amperes) of the power module. This indicates the rated current of the power module (set according to the module type, based on the typical current value of the power module during normal operation). This indicates the allowable current deviation (usually ±10% of the rated current or as specified in the design).

[0016] Among them, stability score The formula representing the stability of current changes is as follows: ;

[0017] In the formula; This represents a very small time interval; Indicates a very short time interval. Change in internal current value; Indicates the rate and trend of change of current (unit: A / s); This indicates the allowable value for the current derivative (used for stability scoring, e.g., 0.1 A / s, which can be adjusted according to module characteristics).

[0018] The present invention provides a modular distributed power supply system for humanoid robots. Compared with existing technologies, the advantages achieved by this method are as follows: 1. This invention, through a modular distributed power-on strategy, combined with soft-start pre-charging, real-time voltage and current detection, and regenerative braking absorption unit, significantly suppresses voltage and current spikes generated at the moment of power-on of capacitive high-power loads, fundamentally avoiding the risk of power devices being damaged by overvoltage and overcurrent impacts, and greatly improving system reliability and service life.

[0019] 2. Because the present invention adopts a step-by-step power-on sequence and each level has independent status feedback, the system can not only accurately locate the faulty module at startup, but also test, repair or replace specific power modules individually during maintenance, which greatly improves the maintainability of the system and realizes the isolation of faulty modules, avoiding the paralysis of the entire system due to local problems.

[0020] 3. This invention introduces a comprehensive power-on health assessment coefficient, which integrates the monitoring information of voltage, current and stability into a single quantitative index. This makes the judgment of successful power-on no longer a simple threshold comparison, but a more intelligent and comprehensive assessment. This avoids misjudgment due to the temporary normality of a single parameter, and ensures the stability and safety of each power-on.

[0021] 4. The smooth power-on process in this invention reduces the instantaneous high current demand on the power supply battery, reduces the polarization loss and internal resistance energy consumption of the battery, not only optimizes the energy utilization efficiency of the whole machine, but also helps to extend the service life of the power supply battery pack, which is of great significance for humanoid robot platforms with limited energy. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the power management distribution board in this invention; Figure 2 This is a flowchart from the present invention; Figure 3 This is a schematic diagram of an existing technical solution. Detailed Implementation

[0023] To make the technical solution of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] Example 1

[0025] like Figure 1 , 2 As shown, a modular distributed power supply system for a humanoid robot includes: a power supply battery pack, a power management distribution board, and multiple power consumption modules; each power consumption module includes at least a control computing unit, a sensing system, an upper limb joint module, a lower limb joint module, and other joint modules; the power management distribution board is electrically connected to the power supply battery pack and each power consumption module; the power management distribution board includes: an MCU control unit, a DC-DC power supply unit, a soft-start unit, a high-power output unit, a voltage and current detection unit, and a power-on success feedback unit.

[0026] When switch K1 is pressed manually, the power supply battery pack outputs power. The power management distribution board converts the power supply battery pack to DC-DC converter and supplies power to the MCU control unit (microcontroller MCU). The control output enable signal (output control (1)) locks switch K1 closed, ensuring that the power supply battery pack continues to output power to the power management distribution board. At the same time, the power management distribution board and the battery pack communicate via RS485 to transmit data such as power consumption unit and battery power.

[0027] After the power management distribution board is successfully powered on, the MCU control unit (microcontroller MCU) outputs an enable signal (DCDC enable (1) so that the DCDC power supply unit outputs 24V / 19V to power the MCU control unit (MCU control part and computer computing unit). At the same time, the output part will have a voltage and current detection unit, and the voltage and current detection unit will feed back a power-on success signal (voltage and current detection feedback (1) to the MCU control unit (microcontroller MCU)).

[0028] Once the control computing unit (MCU control section and computer computing unit) is successfully powered on, a power-on success signal will be fed back to the digital IO input 1 to the MCU control unit (microcontroller MCU). This ensures the safe and stable power-on of this module through control, power output, and power-on success feedback.

[0029] The modular distributed power supply method ensures that each module unit has corresponding soft-start function, voltage and current detection function, regenerative braking release function and power-on success feedback. This method ensures that the impact on the battery is not too great when each power unit is powered on independently, and the voltage and current spikes on the DC bus are very small, thereby reducing the energy loss of the power supply battery, protecting the safety of the components in each power unit and reducing the impact of overvoltage and overcurrent on its internal components.

[0030] The modular distributed power-on method reduces the impact of power-on, preventing damage to devices from impact and irreversible failure. It can also monitor the power supply status of each unit in real time, protecting the electrical equipment in each unit. Furthermore, during maintenance, each power unit can be powered on individually for testing, repair, or replacement of parts, achieving a truly modular distributed power supply for humanoid robots.

[0031] Example 2

[0032] like Figure 1 , 2As shown, after the upper module (control computing unit) is successfully powered on, the MCU control unit (microcontroller MCU) outputs an enable signal (DCDC enable (2)) to make the DCDC power supply unit output 12V / 5V, and the output is normal after being detected by the voltage and current detection unit. Then, the voltage and current detection unit detects and feeds back the power-on success signal (voltage and current detection feedback (2)) so that the power supply 12V / 5V can be output normally, and then to the sensing system. The sensing system has a power-on success feedback function to the digital IO input 2 to the MCU control unit (microcontroller MCU) to realize the normal power-on operation of the sensing system module.

[0033] In this embodiment, the calculation example of the specific formula for the power-on success feedback unit to determine whether the signal fed back by the current power module belongs to the power-on success signal is as follows: The parameters of the sensing system are set as follows: Rated voltage V; Rated current A; Allowable voltage deviation V (i.e., ±5% of 24V); Allowable current deviation A (i.e., ±10% of 2A); Allowable value of current derivative A / s; Sampling time interval s (1ms); Among them, the measured value and calculated value of the sensing system at a certain moment are: Measuring voltage V; Measuring current A; Current change A (calculated based on the current and previous sampling); Rate of change of current A / s; Score Calculation : Voltage score ; Current score (Very close to 1); Stability score ; Comprehensive coefficient; because =0.825 < 0.9, indicating a failed power-on. This may occur at the end of the pre-charge phase, when the voltage and current are close but not yet fully stable. The system should continue monitoring and parameters need to be calibrated according to the module characteristics. Therefore: Therefore, the measured and calculated values ​​of the adjusted sensing system are: Measuring voltage V; Measuring current A; Current change A (calculated based on the current and previous sampling); Rate of change of current A / s; Score Calculation: Voltage score ; Current score ; Stability score ; Comprehensive coefficient ; because =0.95>0.9, which means that the power-on is successful and the next power-on operation can be performed.

[0034] Example 3

[0035] like Figure 1 , 2 As shown, after the sensing system is successfully powered on, the MCU control unit (microcontroller MCU) of the power distribution management board controls the output of the enable signal (output control (2), which is then output to the voltage and current detection unit through the soft start unit (soft start and regenerative braking unit). The voltage and current detection unit detects and feeds back the power-on success signal (voltage and current detection feedback (3), then everything is normally output to the lower limb joint module (double leg movement motor joint module), and pre-charges the module with power.

[0036] Then the MCU control unit (microcontroller MCU) controls the output of the enable signal (output control (3), which is then output to the voltage and current detection unit through the high power output unit (high power output MOS or relay). After the voltage and current detection unit detects and feedback that it is normal, it is finally output to the lower limb joint module (double leg movement motor joint module).

[0037] If there are large voltage or current spikes during upper limb operation or power-on, a portion of the energy can be absorbed and released through the regenerative braking unit. These functions ensure independent and smooth power-on of the upper limb module, and successful power-on feedback is sent to digital I / O input 3 to the MCU control unit (microcontroller), enabling the upper limb module to operate normally.

[0038] In this embodiment, the calculation example of the specific formula for the power-on success feedback unit to determine whether the signal fed back by the current power module belongs to the power-on success signal is as follows: The parameters for the lower limb joint module are set as follows: Rated voltage V; Rated current A; Allowable voltage deviation V (i.e., ±5% of 12V); Allowable current deviation A (i.e., ±10% of 1.5A); Allowable value of current derivative A / s; Sampling time interval s (1ms); Among them, the measured value and calculated value of the sensing system at a certain moment are: Measuring voltage V; Measuring current A; Current change A (calculated based on the current and previous sampling); Rate of change of current A / s; Score Calculation: Voltage score ; Current score ; Stability score ; Comprehensive coefficient ; because =0.780 < 0.9, indicating a failed power-on and slightly large current deviation. The system should continue monitoring and parameters need to be calibrated according to module characteristics. Therefore: Therefore, the measured and calculated values ​​of the adjusted lower limb joint module are: Measuring voltage V; Measuring current A; Current change A (calculated based on the current and previous sampling); Rate of change of current A / s; Score Calculation: Voltage score ; Current score ; Stability score ; Comprehensive coefficient ; because =0.982>0.9, which means that the power-on is successful and the next power-on operation can be performed.

[0039] Example 4

[0040] like Figure 1 , 2 As shown, after the upper limb joint module is successfully powered on, the power distribution management board MCU control unit (microcontroller MCU) controls the output of the enable signal (output control 4), which is then output to the voltage and current detection unit through the soft start unit (soft start and regenerative braking unit). The voltage and current detection unit detects and feeds back the power-on success signal (voltage and current detection feedback 4), and then everything is normally output to the upper limb joint module (motor module of the two arms and dexterous hand) and pre-charges the module with power.

[0041] Then, the MCU control unit (microcontroller MCU) controls the output of the enable signal (output control 5), which is then output to the voltage and current detection unit through the high-power output unit (high-power output MOS or relay). After the voltage and current detection unit detects and provides feedback that it is normal, it is finally output to the upper limb joint module (motor module of both arms and dexterous hand).

[0042] In the event of a large voltage or current spike during lower limb operation or power-on, a portion of the energy can be absorbed and released through the regenerative braking unit. These functions ensure that the lower limb module is powered on independently and smoothly, and successful power-on feedback is sent to digital I / O input 4 to the MCU control unit (microcontroller), enabling the lower limb module to operate normally.

[0043] In this embodiment, the calculation example of the specific formula for the power-on success feedback unit to determine whether the signal fed back by the current power module belongs to the power-on success signal is as follows: The parameters for the upper limb joint module are set as follows: Rated voltage V; Rated current A (High-power load); Allowable voltage deviation V; Allowable current deviation A (i.e., ±10% of 2A); Allowable value of current derivative A / s (for high power, a slightly larger allowable rate of change); Sampling time interval s (1ms); Among them, the measured value and calculated value of the sensing system at a certain moment are: Measuring voltage V; Measuring current A; Current change A (The current is already very stable); Rate of change of current A / s; Score Calculation: Voltage score ; Current score ; Stability score (Very close to 1); Comprehensive coefficient ; because =0.729 < 0.9, indicating a failed power-on, with slight deviations in both voltage and current. The system should continue monitoring and parameters need to be calibrated according to module characteristics. Therefore: Therefore, the measured and calculated values ​​of the adjusted upper limb joint module are: Measuring voltage V; Measuring current A; Current change A; Rate of change of current A / s; Score Calculation: Voltage score ; Current score ; Stability score (Very close to 1); Comprehensive coefficient ; because If 1 > 0.9, it means that the power-on is successful and the next power-on operation can be performed.

[0044] Example 5

[0045] like Figure 1 , 2 As shown, after all the above power supplies are successful, the power distribution management board MCU control unit (microcontroller MCU) controls the output of the enable signal (output control 6), which is then output to the voltage and current detection unit through the soft start unit (soft start and regenerative braking unit). The voltage and current detection unit detects and feeds back the power-on success signal (voltage and current detection feedback 5). Then everything is normally output to other joint modules and pre-charges the modules.

[0046] Then, the MCU control unit (microcontroller MCU) controls the output of the enable signal (output control 7), which is then output to the voltage and current detection unit through the high-power output unit (high-power output MOS or relay). After the voltage and current detection unit detects and provides feedback that it is normal, it is finally output to other joint modules.

[0047] If there are large voltage or current spikes during the operation or power-on of other motor joints, a portion of the energy can be absorbed and released through the regenerative braking unit. These functions ensure that other motor joint modules are powered on independently and smoothly, and successful power-on feedback is sent to digital I / O input 5 to the MCU control unit (microcontroller), enabling other motor joint modules to operate normally.

[0048] In this embodiment, the calculation example of the specific formula for the power-on success feedback unit to determine whether the signal fed back by the current power module belongs to the power-on success signal is as follows: The parameter settings for other joint modules are as follows: Rated voltage V; Rated current A; Allowable voltage deviation V (i.e., ±5% of 48V); Allowable current deviation A (i.e., ±10% of 12A); Allowable value of current derivative A / s; Sampling time interval s (1ms); Among them, the measured value and calculated value of the sensing system at a certain moment are: Measuring voltage V; Measuring current A; Current change A (calculated based on the current and previous sampling); Rate of change of current A / s; Score Calculation: Voltage score ; Current score ; Stability score ; Comprehensive coefficient ; because =0.729 < 0.9, indicating a failed power-on. This may occur at the end of the pre-charge phase, when the voltage and current are close but not yet fully stable. The system should continue monitoring and parameters need to be calibrated according to module characteristics. Therefore: Therefore, the measured and calculated values ​​of other joint modules after adjustment are: Measuring voltage V; Measuring current A; Current change A (calculated based on the current and previous sampling); Rate of change of current A / s; Score Calculation: Voltage score ; Current score ; Stability score ; Comprehensive coefficient ; because If 1 > 0.9, it means that the power-on is successful and the next power-on operation can be performed.

[0049] After each module unit successfully powers on independently and in a distributed manner, each module will communicate with the MCU control unit and the computer computing unit (communications 1-4). The power distribution management board establishes communication with all five module units of the humanoid robot through communication 0 to ensure safe and reliable continuous power supply. The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A humanoid robot modular distributed power supply system, characterized by, The application relates to a power supply battery pack, a power management distribution board and a plurality of power consumption modules; the power consumption modules at least include a control computing unit, a sensing system, an upper limb joint module, a lower limb joint module and other joint modules; the power management distribution board is electrically connected with the power supply battery pack and each power consumption module; the power management distribution board comprises an MCU control unit, a DCDC power supply unit, a soft start unit, a high-power output unit, a voltage and current detection unit and a power-on success feedback unit; the MCU control unit is configured to: (1) sequentially output an enable signal to each power consumption module in a preset order, the enable signal is used for controlling the DCDC power supply unit to supply power to the control computing unit and the sensing system, and the enable signal is used for controlling the soft start unit and the high-power output unit to supply power to the upper limb joint module, the lower limb joint module and other joint modules; (2) the voltage and current detection unit is used for detecting the power supply parameters of each power consumption module in real time and feeding back to the MCU control unit; (3) the power-on success feedback unit is used for receiving the power-on success signals of each power consumption module and feeding back to the MCU control unit; wherein the MCU control unit starts the power-on process of the next stage power consumption module only after the power-on success signal of the current stage power consumption module is confirmed. The high-power output unit is one of a MOSFET device or a relay switch circuit. The power management distribution board further comprises a regenerative braking unit connected to the output end of the high-power output unit and used for absorbing the reverse electromotive force and current peak generated when the power consumption module is powered on or runs. The MCU control unit is communicated with the power supply battery pack through an RS485 communication bus and is used for exchanging battery capacity information and power supply power information. The preset order in the step of sequentially outputting an enable signal to each power consumption module is: firstly, supplying power to the control computing unit; secondly, supplying power to the sensing system; and then, sequentially supplying power to the upper limb joint module, the lower limb joint module and other joint modules. The MCU control unit is further configured to: if the power-on success signal of the current stage power consumption module is not received within a preset number of times, the power-on of the current stage is determined to fail, and the power supply output of the whole system is turned off. The power-on success feedback unit is a digital IO input interface and is used for receiving a TTL level signal from the power consumption module. The power-on success feedback unit specifically obtains a comprehensive power-on health degree evaluation coefficient according to a voltage score, a current score and a stability score of the power consumption module; and the power-on success feedback unit further determines whether the signal fed back by the current power consumption module is a power-on success signal according to whether the obtained comprehensive power-on health degree evaluation coefficient exceeds a power-on success threshold value. The voltage score represents the closeness of the current measured voltage of the power consumption module to the rated voltage; the current score represents the closeness of the current measured current of the power consumption module to the rated current; and the stability score represents the stability degree of current change.

2. The humanoid robot modular distributed power supply system according to claim 1, characterized in that: ​ 3. The humanoid robot modular distributed power supply system according to claim 2, characterized in that: ​ 4. The humanoid robot modular distributed power supply system of claim 1, wherein: ​ 5. The humanoid robot modular distributed power supply system according to claim 1, characterized in that: ​ ​ ​ ​ 6. The humanoid robot modular distributed power supply system according to claim 1, wherein: ​ 7. The humanoid robot modular distributed power supply system according to claim 1, characterized in that: ​ 8. The humanoid robot modular distributed power supply system according to claim 1, characterized in that: ​ ​ 9. The humanoid robot modular distributed power supply system according to claim 8, characterized in that: ​

Images