Robot power supply circuit, robot, system, control method, equipment and product

Abstract

The invention discloses a robot power supply circuit, a robot, a system, a control method, equipment and a product, and relates to the technical field of robots. The robot power supply circuit comprises a standard battery compartment, a main battery, an auxiliary battery and a load device; the standard battery compartment is electrically connected with the main battery and the auxiliary battery, the standard battery compartment comprises at least one battery connecting seat used for being connected with a standard battery, and the standard battery is used for charging the main battery or the auxiliary battery; the main battery and the auxiliary battery are electrically connected with the load device and are used for switching the main battery or the auxiliary battery to supply power to the load device. According to the robot, uninterrupted work of the robot is achieved, and the working efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a robot power supply circuit, a robot, a system and a control method, a device and a product. Background Art

[0002] With the rapid development of science and technology, robotics technology has been widely used in many fields such as industrial manufacturing, service industry, home assistant, medical care, exploration and adventure.

[0003] At present, most mainstream robots use a single battery as the main energy supply. Although this design simplifies the complexity of the energy management system, it also brings significant limitations. Due to the limited energy density of the battery, it is generally maintained by charging. However, the charging method of maintaining battery life requires the robot to frequently return to the charging station during the execution of the task and spend a long time to charge, making it difficult for the robot to achieve uninterrupted work, which seriously affects the work efficiency.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide a robot power supply circuit, robot, system and control method, equipment and product, aiming to solve the technical problem that existing robots are difficult to achieve uninterrupted work, which seriously affects work efficiency.

[0006] To achieve the above-mentioned purpose, the robot power supply circuit proposed in this application includes a standard battery compartment, a main battery, a secondary battery and a load device; The standard battery compartment is electrically connected to the main battery and the auxiliary battery respectively, and the standard battery compartment includes at least one battery connection socket for connecting the standard battery, and the standard battery is used to charge the main battery or the auxiliary battery; The main battery and the auxiliary battery are electrically connected to the load device, and are used to switch the main battery or the auxiliary battery to supply power to the load device.

[0007] In one embodiment, the robot power supply circuit further includes a boost module and a first multiplex switch; The boost module is electrically connected to the standard battery compartment and the first multiplex switch respectively; The first multiplex switch is electrically connected to the main battery and the auxiliary battery respectively.

[0008] In one embodiment, the standard batteries connected to each battery connector in the standard battery compartment are respectively connected in parallel to the boost busbar through a first diode, and the boost busbar is connected to the boost module.

[0009] In one embodiment, the boost module includes a plurality of boost units, and the boost units are connected via synchronous parallel lines.

[0010] In one embodiment, the robot power supply circuit further includes a second multiplex switch; One end of the second multiplex switch is connected to the main battery and the auxiliary battery respectively, and the other end is connected to the load device.

[0011] In one embodiment, the main battery is connected to the second multiplex switch via the second diode and the first variable resistor in sequence; The slave battery is connected to the second multiplex switch via the third diode and the second resistor in sequence.

[0012] In one embodiment, the robot power supply circuit further includes an operation processing unit; The operation processing unit is respectively connected to the main battery, the auxiliary battery and each standard battery in the standard battery compartment, and is used to collect battery status information, and according to the battery status information, control the standard battery to switch to the main battery or the auxiliary battery for charging, and control the switching of the main battery or the auxiliary battery to power the load device.

[0013] In addition, to achieve the above objectives, the present application also proposes a robot, which includes the robot power supply circuit as above.

[0014] In one embodiment, a standard battery compartment of the robot power supply circuit is disposed in the waist area of ​​the robot.

[0015] In addition, to achieve the above purpose, the present application also proposes a robot control method, which is applied to the above robot. The robot control method includes: After the remaining power of the main battery is less than the first cut-off threshold, switching to the auxiliary battery to supply power to the load device; Control the standard batteries in the standard battery compartment to charge the main battery.

[0016] In one embodiment, after the step of controlling each standard battery in the standard battery compartment to charge the main battery, the method includes: After the main battery is fully charged and the remaining power of the secondary battery is less than the second cut-off threshold, switching to the main battery to supply power to the load device; Control each standard battery in the standard battery compartment to charge the auxiliary battery; After the secondary battery is fully charged, the following steps are performed: after the remaining power of the main battery is less than a first cut-off threshold, the secondary battery is switched to supply power to the load device.

[0017] In one embodiment, the robot control method further includes: After the standard battery is discharged, determining whether the remaining power of the main battery or the auxiliary battery is less than a predetermined operating threshold; If the remaining power of the main battery or the auxiliary battery is less than the predetermined operating threshold, the standard battery in the standard battery compartment is replaced.

[0018] In one embodiment, before the step of switching to the auxiliary battery to power the load device after the remaining power of the main battery is less than the first cut-off threshold, the control method of the robot further includes: After the robot is started, the main battery, auxiliary battery and each standard battery in the standard battery compartment are self-checked to obtain the battery self-check result; If the battery self-test result is that the battery status is normal, the main battery is controlled to power the load device, and the steps are performed: after the remaining power of the main battery is less than the first cut-off threshold, the auxiliary battery is switched to power the load device.

[0019] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium. A computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the control method as described above are implemented.

[0020] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the control method as described above are implemented.

[0021] One or more technical solutions proposed in this application have at least the following technical effects: In the present application, the robot power supply circuit includes a standard battery compartment, a main battery, a secondary battery and a load device; the standard battery compartment is electrically connected to the main battery and the secondary battery respectively, and the standard battery compartment includes at least one battery connection socket for connecting a standard battery, and the standard battery is used to charge the main battery or the secondary battery; the main battery and the secondary battery are electrically connected to the load device, and are used to switch the main battery or the secondary battery to power the load device. Therefore, the present application provides uninterrupted power supply to the load device by switching between the main battery and the secondary battery, and on the other hand, the main battery or the secondary battery is charged with the help of the standard battery, and because the standard battery does not directly power the load device, the power supply to the load device will not be interrupted during the replacement of the standard battery, so that the present application realizes the uninterrupted operation of the robot, ensures the working continuity of the robot, and improves the working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 A schematic diagram of the structure of the power supply circuit of the robot of this application; Figure 2 This is a schematic diagram of the structure of a standard battery compartment involved in an embodiment of the present application; Figure 3 Another schematic diagram of the power supply circuit of the robot of this application; Figure 4 A circuit structure diagram of a robot power supply circuit according to an embodiment of the present application; Figure 5 A schematic diagram of the structure of a battery dock involved in an embodiment of the present application; Figure 6 This is a flow chart of an embodiment of a robot control method of the present application.

[0025] Description of Figure Numbers: 10. Standard battery compartment; 101. Battery connector; 102. Standard battery; 11. Boost module; 111. Boost unit; 12. First multiplexer switch; 13. First diode; 14. Boost busbar; 20. main battery; 21. second multiplexer switch; 22. second diode; 23. first variable resistor; 24. third diode; 25. second variable resistor; 30. Auxiliary battery; 40. Load device; 50. Operation processing unit.

[0026] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0027] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0028] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0029] The main solution of the embodiment of the present application is: the robot power supply circuit includes a standard battery compartment, a main battery, a secondary battery and a load device; the standard battery compartment is electrically connected to the main battery and the secondary battery respectively, and the standard battery compartment includes at least one battery connection socket for connecting a standard battery, and the standard battery is used to charge the main battery or the secondary battery; the main battery and the secondary battery are electrically connected to the load device, and are used to switch the main battery or the secondary battery to power the load device.

[0030] In this embodiment, for ease of description, the following description is made with a robot as the execution subject.

[0031] At present, most mainstream robots use a single battery as the main energy supply. Although this design simplifies the complexity of the energy management system, it also brings significant limitations. Due to the limited energy density of the battery, it is generally maintained by charging. However, the charging method of maintaining battery life requires the robot to frequently return to the charging station during the execution of the task and spend a long time to charge, making it difficult for the robot to achieve uninterrupted work, which seriously affects the work efficiency.

[0032] The present application provides a solution, which provides uninterrupted power supply to the load device by switching between the main battery and the auxiliary battery, and on the other hand, uses the standard battery to charge the main battery or the auxiliary battery. Moreover, since the standard battery does not directly power the load device, the power supply to the load device will not be interrupted during the replacement of the standard battery. Therefore, the present application realizes the uninterrupted operation of the robot, ensures the working continuity of the robot, and improves the working efficiency.

[0033] Based on this, the embodiment of the present application provides a robot power supply circuit, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the robot power supply circuit of the present application.

[0034] In this embodiment, the robot power supply circuit includes a standard battery compartment 10, a main battery 20, a secondary battery 30 and a load device 40; The standard battery compartment 10 is electrically connected to the main battery 20 and the auxiliary battery 30 respectively. The standard battery compartment 20 includes at least one battery connector 101 for connecting a standard battery 102. The standard battery 102 is used to charge the main battery 20 or the auxiliary battery 30. The main battery 20 and the sub-battery 30 are electrically connected to the load device 40 , so as to switch between the main battery 20 and the sub-battery 30 to supply power to the load device 40 .

[0035] It should be noted that the robot power supply circuit can be a power supply circuit for service robots, transport robots, exploration robots, special robots, etc. The load device 40 is an electrical component in the robot that needs to provide electrical energy, such as a motor, a display screen, a speaker, etc.

[0036] In this embodiment, the standard battery compartment 10 is electrically connected to the main battery 20 and the auxiliary battery 30 respectively, and the standard battery compartment 20 includes at least one battery connector 101 for connecting the standard battery 102, and the standard battery 102 is used to charge the main battery 20 or the auxiliary battery 30. The standard battery compartment 10 includes at least one battery connector 101 for connecting the standard battery 102, and the first multi-way check switch 12 is respectively connected to the main battery 20 and the auxiliary battery 30 in the discharge circuit 20. Figure 2As shown, in order to achieve higher replacement efficiency of the standard battery 102, each battery connector 101 in the standard battery compartment 10 is a hot-swappable interface, and the hot-swappable interfaces can communicate through the hot-swappable band, so as to maintain the physical and electrical connection of the entire system when the standard battery 102 is inserted into or unplugged from the battery connector 101, and avoid short circuit or open circuit during the plug-in process. Exemplarily, when the standard battery 102 is inserted, the hot-swappable interface will first establish a physical connection, and then the contactor (relay) on the battery connector 101 will close, establish an electrical connection, and establish a communication connection with the standard battery 102 through a communication protocol. When the standard battery 102 needs to be unplugged, first disconnect the contactor on the battery connector 101 to cut off the electrical connection. Then disconnect the physical connection, and the standard battery 102 can be safely unplugged. It is understandable that the standard battery compartment 10 can be set in the waist area of ​​the robot, which is convenient for plugging and unplugging the standard battery 102. At the same time, the weight of the standard battery 102 itself helps the robot stabilize the center of gravity and maintain a better movement posture. In this embodiment, the standard battery compartment 10 is electrically connected to the main battery 20 and the auxiliary battery 30 respectively. For example, the standard battery compartment 10 can be connected to the main battery 20 and the auxiliary battery 30 respectively through a multi-way check switch, thereby controlling the gear switching of the multi-way check switch to make the standard battery 102 and one of the main battery 20 and the auxiliary battery 30 connected to charge the main battery 20 or the auxiliary battery 30. Of course, the standard battery compartment 10 can be connected to the main battery 20 and the auxiliary battery 30 respectively through two independent switches, thereby controlling the disconnection and conduction of the two independent switches to make the standard battery 102 and one of the main battery 20 and the auxiliary battery 30 connected to charge the main battery 20 or the auxiliary battery 30. The main battery 20 and the sub-battery 30 are electrically connected to the load device 40, and are used to switch the main battery 20 or the sub-battery 30 to power the load device 40. Exemplarily, the main battery 20 and the sub-battery 30 can be electrically connected to the load device 40 through a multi-way check switch, thereby controlling the gear position of the single multi-way check switch to make one of the main battery 20 and the sub-battery 30 conduct with the load device 40, and switch the main battery 20 or the sub-battery 30 to power the load device 40. The main battery 20 and the sub-battery 30 can also be electrically connected to the load device 40 through independent switches, respectively, thereby controlling the disconnection and conduction of the independent switch to make one of the main battery 20 and the sub-battery 30 conduct with the load device 40, and switch the main battery 20 or the sub-battery 30 to power the load device 40.

[0037] Therefore, this embodiment can provide uninterrupted power supply to the load device 40 by switching between the main battery 20 and the auxiliary battery 30. On the other hand, the standard battery 102 is used to charge the main battery 20 or the auxiliary battery 30. Moreover, since the standard battery 102 does not directly power the load device 40, the power supply to the load device 40 will not be interrupted during the replacement of the standard battery 102, thereby realizing uninterrupted operation of the robot, ensuring the working continuity of the robot, and improving work efficiency.

[0038] like Figure 3 As shown, in some embodiments, the robot power supply circuit further includes a boost module 11 and a first multiplex switch 12; The boost module 11 is electrically connected to the standard battery compartment 10 and the first multi-way check switch 12 respectively; The first multiplex switch 12 is electrically connected to the main battery 20 and the sub-battery 30 respectively.

[0039] In this embodiment, the standard battery compartment 10 , the boost module 11 and the first multiplex switch 12 which are electrically connected in sequence can form a charging circuit for charging the main battery 20 or the auxiliary battery 30 .

[0040] The standard battery compartment 10 is connected to the boost module 11, so that the voltage output by the standard battery 102 in the standard battery compartment 10 is boosted by the boost module 11. The boost module 11 is connected to the first multiplex switch 12, and the first multiplex switch 12 is connected to the main battery 20 and the sub-battery 30 respectively. Therefore, in this embodiment, by controlling the switching of the first multiplex switch 12, the electric energy after the boost processing by the boost module 11 is used to charge the main battery 20 or the sub-battery 30. Therefore, in this embodiment, the output voltage of each standard battery 102 does not need to be consistent with the input voltage of the main battery 20 or the sub-battery 30, and the charging of the main battery 20 or the sub-battery 30 can be achieved, and with the help of the first multiplex switch 12, there is no need to use multiple switches to control the on and off between the standard battery compartment 10 and the main battery 20 or the sub-battery 30, which simplifies the circuit structure.

[0041] See also Figure 4 In some embodiments, the standard batteries 102 connected to each battery connector 101 in the standard battery compartment 10 are respectively connected in parallel to the boost busbar 14 through the first diode 13, and the boost busbar 14 is connected to the boost module 11.

[0042] In the present embodiment, the standard batteries 102 connected to each battery connection socket 101 in the standard battery compartment 10 are respectively connected in parallel to the boost busbar 14 through the first diode 13, and the boost busbar 14 is connected to the boost module 11. Therefore, with the help of the first diode 13, the standard batteries 102 are effectively prevented from power backflow and short circuit caused by voltage inconsistency. Then, the standard batteries 102 are connected in parallel and converged through the boost busbar 14 and input into the boost module 11, so as to increase the output voltage of each standard battery 102 to the charging voltage of the main battery 20 and the auxiliary battery 30, and supply power to the main battery 20 or the auxiliary battery 30.

[0043] In some embodiments, the boost module 11 includes a plurality of boost units 111 , and the boost units 111 are connected via synchronous parallel lines.

[0044] Therefore, this embodiment ensures that the outputs of all booster units 111 are synchronized through the synchronous parallel line, that is, they have the same voltage, frequency and phase. In this way, these booster units 111 can be safely operated in parallel to jointly supply power to the main battery 20 or the auxiliary battery 30. Therefore, with the help of this design, in this embodiment, when a booster unit 111 fails, other booster units 111 can continue to maintain power supply, thereby improving the reliability of the robot power supply circuit, and ensuring load balancing between the booster units 111 through the synchronous parallel line, thereby extending the service life of the robot.

[0045] like Figure 3 As shown, in some embodiments, the robot power supply circuit further includes a second multiple-way check switch 21; One end of the second multiplex switch 21 is connected to the main battery 20 and the sub-battery 30 respectively, and the other end is connected to the load device 40 .

[0046] In this embodiment, the robot power supply circuit further includes a second multiplex switch 21, one end of the second multiplex switch 21 is connected to the main battery 20 and the secondary battery 30 respectively, and the other end is connected to the load device 40. Therefore, in this embodiment, by controlling the switching of the second multiplex switch 21, the main battery 20 or the secondary battery 30 is connected to the load device 40, so as to supply power to the load device 40 of the robot. In this embodiment, by means of the second multiplex switch 21, there is no need to use multiple switches to control the connection and disconnection between the main battery 20 or the secondary battery 30 and the load device 40 respectively, thereby simplifying the circuit structure.

[0047] like Figure 4 As shown, in some embodiments, the main battery 20 is connected to the second multiplex switch 21 through the second diode 22 and the first variable resistor 23 in sequence; The sub-battery 30 is connected to the second multiplex switch 21 via the third diode 24 and the second resistor 25 in sequence.

[0048] In this embodiment, the second multiplexer switch 21, the second diode 22, the first variable resistor 23, the third diode 24, the second variable resistor 25 and the load device 40, which are directly or indirectly electrically connected to the main battery 20 and the sub-battery 30, serve as a discharge circuit for consuming the electric energy of the main battery 20 and the sub-battery 30. The main battery 20 is connected to the second multiplexer switch 21 through the second diode 22 and the first variable resistor 23 in sequence, so that the second diode 22 prevents the main battery 20 from powering the load device 40 with power backflow and short circuit, and adjusts the current supplied by the main battery 20 to the load device 40 through the first variable resistor 23. The sub-battery 30 is connected to the second multiplexer switch 21 through the third diode 24 and the second variable resistor 25 in sequence. So that the third diode 24 prevents the sub-battery 30 from powering the load device 40 with power backflow and short circuit, and adjusts the current supplied by the sub-battery 30 to the load device 40 through the second variable resistor 25.

[0049] In some embodiments, the robot power supply circuit further includes an operation processing unit 50; The processing unit 50 is respectively connected to the main battery 20, the auxiliary battery 30 and each standard battery 102 in the standard battery compartment 10, and is used to collect battery status information, and according to the battery status information, control the standard battery 102 to switch to the main battery 20 or the auxiliary battery 30 for charging, and control the switching of the main battery 20 or the auxiliary battery 30 to power the load device 40.

[0050] like Figure 3As shown, as an example, the operation processing unit 50 is respectively connected to the main battery 20, the auxiliary battery 30 and each standard battery 102 in the standard battery compartment 10, and the operation processing unit 50 is also respectively connected to the first multiplex switch 12 and the second multiplex switch 21, and is used to control the first multiplex switch 12 to switch the standard battery 102 to charge the main battery 20 or the auxiliary battery 30, and control the second multiplex switch 21 to switch the main battery 20 or the auxiliary battery 30 to power the load device 40 according to the battery status information. In this way, the operation processing unit 50 can collect the battery status information of the main battery 20, the auxiliary battery 30 and each standard battery 102 in the standard battery compartment 10, such as terminal voltage, discharge current, internal resistance temperature, SOC (State of Charge) and SOH (State of Health) and other battery-related status information. Therefore, according to the battery status information, the present embodiment can control the second multiplex switch 21 to switch to the auxiliary battery power supply gear after the remaining power of the main battery 20 is less than the first cut-off threshold, so that the auxiliary battery 30 supplies power to the load device 40; control the first multiplex switch 12 to switch to the main battery charging gear, and control the standard batteries 102 in the standard battery compartment 10 to charge the main battery 20 after being boosted by the boost module 11; after the main battery 20 is fully charged and the remaining power of the auxiliary battery 30 is less than the second cut-off threshold, control the second multiplex switch 21 to switch to the main battery power supply gear, so that the main battery 20 supplies power to the load device 40; control the first multiplex switch 12 to switch to the auxiliary battery charging gear, and control the standard batteries 102 in the standard battery compartment 10 to charge the auxiliary battery 30 after being boosted by the boost module 11.

[0051] The first embodiment of the present application provides a robot power supply circuit, which includes a standard battery compartment 10, a main battery 20, a secondary battery 30 and a load device 40; the standard battery compartment 10 is electrically connected to the main battery 20 and the secondary battery 30 respectively, and the standard battery compartment 20 includes at least one battery connection seat 101 for connecting a standard battery 102, and the standard battery 102 is used to charge the main battery 20 or the secondary battery 30; the main battery 20 and the secondary battery 30 are electrically connected to the load device 40, and are used to switch the main battery 20 or the secondary battery 30 to power the load device 40. Therefore, this embodiment can provide uninterrupted power supply to the load device 40 by switching between the main battery 20 and the secondary battery 30, and on the other hand, the main battery 20 or the secondary battery 30 is charged by the standard battery 102, and because the standard battery 102 does not directly power the load device 40, the power supply to the load device 40 will not be interrupted during the replacement of the standard battery 102, thereby realizing the uninterrupted operation of the robot, ensuring the continuity of the robot's operation, and improving the work efficiency.

[0052] In addition, the embodiment of the present application provides a robot, the robot includes the robot power supply circuit as described above. It is understandable that the robot also includes a housing, a driving mechanism and other devices to maintain the normal operation of the robot.

[0053] In some embodiments, a standard battery compartment for the robot's power supply circuit is located in the waist area of ​​the robot.

[0054] In this embodiment, the standard battery compartment of the robot's power supply circuit is set in the waist area of ​​the robot. Compared with setting it at the bottom of the robot, it is more convenient to plug and unplug the standard battery. Compared with setting it on the top of the robot, the weight of the standard battery itself will cause the center of gravity of the robot to be biased upward, which may easily cause the robot's movement stability to deteriorate and easy to fall. However, setting it in the waist area of ​​the robot will help the robot stabilize the center of gravity and maintain a better movement posture.

[0055] In addition, an embodiment of the present application further provides a robot working system, the robot working system comprising at least one robot as described above, and a charging dock separated from the robot; The charging dock includes at least one standard battery, and the charging dock is connected to a mains power supply for charging the standard battery in the charging dock.

[0056] In this embodiment, the robot working system includes at least one robot as described above, and a charging dock separated from the robot, the charging dock includes at least one standard battery, and the charging dock is connected to the mains power supply to charge the standard battery in the charging dock. Figure 5 As shown, the standard battery can be charged through the battery dock, and multiple standard batteries can be connected to the battery dock. The battery dock is connected to the power socket through a power plug, and the power socket is connected to the mains power supply, so that the mains power supply charges each standard battery in the battery dock. Therefore, this embodiment continuously charges the standard battery through the charging dock, so that the robot always has standard batteries with sufficient power for use, so that under this robot working system, the robot can always maintain uninterrupted work, further improving work efficiency.

[0057] In addition, the present application embodiment provides a robot control method, referring to Figure 6 , Figure 6 This is a flow chart of an embodiment of a robot control method of the present application.

[0058] In this embodiment, the robot control method is applied to the above robot, and the control method includes steps S10 to S50: Step S10, after the remaining power of the main battery is less than the first cut-off threshold, switching to the auxiliary battery to supply power to the load device; Step S20, controlling each standard battery in the standard battery compartment to charge the main battery.

[0059] It should be noted that the first cut-off threshold is a threshold that is preset to make it difficult to provide a stable power supply to the robot, such as a specified state of charge threshold or a specified cut-off voltage.

[0060] In this embodiment, at least one of the current state of charge or the terminal voltage can be used as a characterizing value of the remaining power. Exemplarily, since the state of charge describes the ratio between the current remaining capacity of the battery and its full charge capacity, the present embodiment can determine that the remaining power of the main battery is less than the first cut-off threshold value after the current state of charge of the main battery is less than the first state of charge threshold value (such as 3%, 5%, etc.). Since the terminal voltage will drop sharply when the main battery is difficult to provide a stable power supply, the present embodiment can also determine that the remaining power of the main battery is less than the first cut-off threshold value after the current terminal voltage of the main battery is less than the first cut-off voltage threshold value. Furthermore, in this embodiment, after the remaining power of the main battery is less than the first cut-off threshold value, the main battery and the load device can be disconnected, and the secondary battery and the load device can be connected, so that the secondary battery supplies power to the load device, and each standard battery in the standard battery compartment can be connected to the main battery, and each standard battery in the standard battery compartment can be disconnected from the secondary battery to charge the main battery. Exemplarily, the second multi-way check switch can be controlled to switch to the secondary battery power supply gear, so that an electrical connection is established between the secondary battery and the load device, and the secondary battery supplies power to the load device. Then, the first multi-way check switch is controlled to switch to the main battery charging gear, so that each standard battery in the standard battery compartment can establish an electrical connection with the main battery, thereby controlling the output voltage of each standard battery in the standard battery compartment to charge the main battery after being boosted by the boost module. After the main battery is fully charged, it can be switched to the main battery to power the load device, and control each standard battery in the standard battery compartment to charge the auxiliary battery. Of course, for the sake of battery life and battery life, after the main battery is fully charged and the remaining power of the auxiliary battery is less than the second cut-off threshold, it can be switched to the main battery to power the load device, and control each standard battery in the standard battery compartment to charge the auxiliary battery. Avoid too frequent charging and discharging to affect the battery life and battery life of the main battery and the auxiliary battery. It can be understood that the main battery completes charging to the state of charge of the main battery is greater than the predetermined charge threshold.

[0061] In this embodiment, after the remaining power of the main battery is less than the first cut-off threshold, the auxiliary battery is switched to power the load device, thereby ensuring uninterrupted power supply to the load device. On the other hand, the standard battery is used to charge the main battery, and since the standard battery does not directly power the load device, the power supply to the load device will not be interrupted during the replacement of the standard battery. Therefore, this embodiment realizes uninterrupted operation of the robot, ensures the working continuity of the robot, and improves work efficiency.

[0062] In some embodiments, after step S20, steps S30 to S50 are included: Step S30, after the main battery is fully charged and the remaining power of the secondary battery is less than the second cut-off threshold, switching to the main battery to power the load device; Step S40, controlling each standard battery in the standard battery compartment to charge the auxiliary battery; Step S50: After the secondary battery is fully charged, execute step S10.

[0063] In this embodiment, after the main battery is fully charged and the remaining power of the secondary battery is less than the second cut-off threshold, similarly, in this embodiment, after the current state of charge of the secondary battery is less than the second state of charge threshold (such as 3%, 5%, etc.), it can be determined that the remaining power of the secondary battery is less than the second cut-off threshold. Alternatively, in this embodiment, after the current terminal voltage of the secondary battery is less than the second cut-off voltage threshold, it can be determined that the remaining power of the secondary battery is less than the second cut-off threshold. Furthermore, in this embodiment, the secondary battery and the load device can be disconnected, and the main battery and the load device can be connected, so that the main battery supplies power to the load device, and each standard battery in the standard battery compartment can be connected to the secondary battery, and each standard battery in the standard battery compartment can be disconnected from the main battery, so as to charge the secondary battery. Exemplarily, the second multiplexer can be controlled to switch to the main battery power supply gear, so that an electrical connection is established between the main battery and the load device, and the main battery supplies power to the load device. Thus, the first multiplexer can be controlled to switch to the secondary battery charging gear, and the output voltage of each standard battery in the standard battery compartment can be controlled to charge the secondary battery after being boosted by the boost module. After the secondary battery is fully charged, step S10 may be performed. It is understood that the completion of charging of the secondary battery means that the state of charge of the secondary battery is greater than a predetermined charge threshold.

[0064] Therefore, in this embodiment, when the power of the main battery or the auxiliary battery of the robot is low, another battery (the auxiliary battery when the main battery is low, and the main battery when the auxiliary battery is low) is used to provide uninterrupted power to the load device. On the other hand, the main battery or the auxiliary battery is charged with the help of a standard battery. Moreover, since the standard battery does not directly power the load device, the power supply to the load device will not be interrupted during the replacement of the standard battery. Therefore, this embodiment realizes the uninterrupted operation of the robot, ensures the working continuity of the robot, and improves the working efficiency.

[0065] In a feasible implementation manner, the robot control method further includes steps A10 to A20: Step A10, after the standard battery is discharged, determining whether the remaining power of the main battery or the auxiliary battery is less than a predetermined operating threshold; Step A20: If the remaining power of the main battery or the auxiliary battery is less than a predetermined operating threshold, replace the standard battery in the standard battery compartment.

[0066] It should be noted that the predetermined operating threshold is a pre-set amount of electricity that can maintain normal operation of the robot.

[0067] This embodiment can determine whether the remaining power of the main battery or the auxiliary battery is less than a predetermined operating threshold after the discharge of the standard battery is completed. If the remaining power of the main battery or the auxiliary battery is less than the predetermined operating threshold, it means that the remaining power of the main battery or the auxiliary battery is difficult to maintain the normal operation of the robot for a certain period of time, and the standard battery in the standard battery compartment can be replaced. Exemplarily, in this embodiment, a new standard battery is taken out from the battery dock to replace the standard battery in the standard battery compartment, and the new standard battery is used to charge the main battery or the auxiliary battery. It can be understood that the standard battery can be replaced automatically by a battery dock or a robot equipped with a robotic arm, or it can be replaced manually. Therefore, this embodiment realizes the replacement of standard batteries so that the charging needs of the main battery or the auxiliary battery can be continuously met.

[0068] In a feasible implementation manner, before S10, the robot control method further includes steps B10 to B20: Step B10, after the robot is started, the main battery, the auxiliary battery and each standard battery are self-checked to obtain the battery self-check result; Step B20: If the battery self-test result shows that the battery status is normal, the main battery is controlled to supply power to the load device, and step S10 is executed.

[0069] In this embodiment, after the robot is started, the main battery, the auxiliary battery and each standard battery are self-tested to obtain the battery self-test result; if the battery self-test result is that the battery state is normal, the main battery can be controlled to be connected to the load device, and the auxiliary battery can be disconnected from the load device, so that the main battery can power the load device. Exemplarily, the second multiplexer can be controlled to switch to the main battery power supply gear, so that the main battery can power the load device, and step S10 is executed. If the battery self-test result is that the battery state is abnormal, it is determined whether the battery self-test result meets the predetermined shutdown condition, wherein the predetermined shutdown condition is a rule that the robot needs to be shut down in advance, such as the battery health state is lower than the predetermined health state threshold, the battery temperature is higher than the predetermined temperature threshold, etc. If the battery self-test result meets the predetermined shutdown condition, the robot is controlled to shut down; if the battery self-test result does not meet the predetermined shutdown condition, after the battery state of the main battery is normal, the main battery can be controlled to be connected to the load device, and the auxiliary battery can be disconnected from the load device, so that the main battery can power the load device. Exemplarily, the second multiplexer switch can be controlled to switch to the main battery power supply gear so that the main battery supplies power to the load device. When the battery status of the main battery is abnormal but the battery status of the secondary battery is normal, the secondary battery and the load device can be controlled to be turned on, and the main battery and the load device can be disconnected so that the main battery supplies power to the load device. Exemplarily, the second multiplexer switch can be controlled to switch to the secondary battery power supply gear so that the secondary battery supplies power to the load device. It is understandable that when the battery self-test result is that the battery status is abnormal, a prompt message is output to remind the user that the robot's battery is abnormal.

[0070] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0071] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the robot control method in the above-mentioned embodiment.

[0072] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0073] The computer-readable storage medium may be included in the robot; or may exist independently without being assembled into the robot.

[0074] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the robot, the robot: switches to the auxiliary battery to power the load device after the remaining power of the main battery is less than the first cut-off threshold; controls each standard battery in the standard battery compartment to charge the main battery.

[0075] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0076] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0077] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0078] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the control method of the above-mentioned robot, and can solve the technical problem that the existing robots are difficult to achieve uninterrupted work, which seriously affects the work efficiency. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the control method of the robot provided by the above-mentioned embodiment, and will not be repeated here.

[0079] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned control method when executed by a processor.

[0080] The computer program product provided by the present application can solve the technical problem that existing robots are difficult to achieve uninterrupted work, which seriously affects the work efficiency. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the robot control method provided by the above embodiment, which will not be repeated here.

[0081] The above are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A robot power supply circuit, characterized in that: The robot power supply circuit includes a standard battery compartment, a main battery, a secondary battery and a load device; The standard battery compartment is electrically connected to the main battery and the auxiliary battery respectively, and the standard battery compartment includes at least one battery connection socket for connecting a standard battery, and the standard battery is used to charge the main battery or the auxiliary battery; The main battery and the sub-battery are electrically connected to the load device, and are used to switch the main battery or the sub-battery to supply power to the load device.

2. The robot power supply circuit according to claim 1, characterized in that: The robot power supply circuit also includes a boost module and a first multi-way check switch; The boost module is electrically connected to the standard battery compartment and the first multi-way check switch respectively; The first multi-way check switch is electrically connected to the main battery and the sub-battery respectively.

3. The robot power supply circuit according to claim 2, characterized in that: The standard batteries connected to the battery connectors in the standard battery compartment are respectively connected in parallel to the boost busbar through the first diode, and the boost busbar is connected to the boost module.

4. The robot power supply circuit according to claim 3, characterized in that: The boost module includes a plurality of boost units, and the boost units are connected via synchronous parallel lines.

5. The robot power supply circuit according to claim 1, characterized in that: The robot power supply circuit also includes a second multiplex switch; One end of the second multiplex switch is connected to the main battery and the sub-battery respectively, and the other end is connected to the load device.

6. The robot power supply circuit according to claim 5, characterized in that: The main battery is connected to the second multiplex switch via the second diode and the first variable resistor in sequence; The sub-battery is connected to the second multiplex switch via a third diode and a second resistor in sequence.

7. The robot power supply circuit according to claim 1, characterized in that: The robot power supply circuit also includes an operation processing unit; The processing unit is respectively connected to the main battery, the auxiliary battery and each standard battery in the standard battery compartment, and is used to collect battery status information, and according to the battery status information, control the standard battery to switch to the main battery or the auxiliary battery for charging, and control the switching of the main battery or the auxiliary battery to power the load device.

8. A robot, characterized in that: The robot comprises a robot power supply circuit as claimed in any one of claims 1 to 7.

9. The robot according to claim 8, characterized in that The standard battery compartment of the robot power supply circuit is arranged in the waist area of ​​the robot.

10. A robot working system, characterized in that: The robot working system comprises at least one robot according to any one of claims 8 to 9, and a charging dock separated from the robot; The charging dock includes at least one standard battery, and the charging dock is connected to a mains power supply for charging the standard battery in the charging dock.

11. A robot control method, characterized in that: Applied to the robot according to any one of claims 8 to 9, the control method of the robot comprises: After the remaining power of the main battery is less than the first cut-off threshold, switching to the auxiliary battery to supply power to the load device; Control the standard batteries in the standard battery compartment to charge the main battery.

12. The robot control method according to claim 11, characterized in that: After the step of controlling each standard battery in the standard battery compartment to charge the main battery, the method includes: After the main battery is fully charged and the remaining power of the secondary battery is less than a second cut-off threshold, switching to the main battery to supply power to the load device; Controlling each standard battery in the standard battery compartment to charge the auxiliary battery; After the secondary battery is fully charged, the following steps are performed: after the remaining power of the main battery is less than a first cut-off threshold, switching to the secondary battery to supply power to the load device.

13. The robot control method according to claim 11, characterized in that: The robot control method further comprises: After the standard battery is discharged, determining whether the remaining power of the main battery or the auxiliary battery is less than a predetermined operating threshold; If the remaining power of the main battery or the sub-battery is less than a predetermined operating threshold, the standard battery in the standard battery compartment is replaced.

14. The robot control method according to claim 11, characterized in that: Before the step of switching to the auxiliary battery to power the load device after the remaining power of the main battery is less than the first cut-off threshold, the control method of the robot further includes: After the robot is started, the main battery, the auxiliary battery and each standard battery in the standard battery compartment are self-checked to obtain a battery self-check result; If the battery self-test result is that the battery status is normal, the main battery is controlled to power the load device, and the steps are performed: after the remaining power of the main battery is less than the first cut-off threshold, the auxiliary battery is switched to power the load device.

15. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the control method described in any one of claims 11 to 14 are implemented.

16. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the control method according to any one of claims 11 to 14 are implemented.

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