Current Voltage Stabilization System for the Power Supply Board of a Collaborative Robot in a Complex Environment

Abstract

The present invention discloses a current voltage stabilization system for a power supply board of a collaborative robot in a complex environment, which relates to the technical field of current voltage stabilization. Multiple working environment information is determined, and multiple corresponding current voltage stabilization spaces for the power supply board are formulated respectively based on the multiple working environment information. Voltage stabilization shadows are set corresponding to multiple target robots in the multiple current voltage stabilization spaces for the power supply board respectively; the working environment information of the multiple target robots is determined respectively, the working information of the power supply boards of the multiple target robots is collected based on the monitoring points, and the working information is transmitted to the corresponding current voltage stabilization space for the power supply board according to the working environment information of the target robots; control virtual shadows are performed in the voltage stabilization shadows, and the corresponding target robots are linearly adjusted through the voltage stabilization shadows and the puppet lines to complete the current voltage stabilization task for the power supply board. The present invention can achieve rapid adjustment of the load of the power supply board, has high reaction ability, and improves the safe operation efficiency of the target robot.

Description

Technical Field

[0001] The present invention relates to the technical field of current stabilization, and in particular to a current stabilization system for a power supply board of a collaborative robot in a complex environment. Background Art

[0002] In collaborative robots in complex environments, the power board current and voltage stabilization system is a key part to ensure the stable operation of the robot. Collaborative robots need to maintain the stability of current and voltage under changing environmental conditions (such as temperature, humidity, different air particle densities, etc.). In order to ensure the normal operation of the robot power board, the working status of the power board must be determined first. In the actual power board current and voltage stabilization system, if the robot needs to enter and exit a variety of different environments in a short period of time, it is difficult to quickly adjust the power board load. There is no efficient reaction and adaptability, and the safe operation of the target robot cannot be improved. Summary of the invention

[0003] The purpose of the present invention is to provide a current stabilization system for a power supply board of a collaborative robot in a complex environment to solve the deficiencies in the background technology.

[0004] In order to achieve the above object, the present invention provides the following technical solution: a current stabilizing system for a power supply board of a collaborative robot in a complex environment, comprising:

[0005] An information setting module, used to determine a plurality of working environment information, formulate a plurality of corresponding power board current and voltage stabilization spaces based on the plurality of working environment information, and set voltage stabilization shadows corresponding to a plurality of target robots in the plurality of power board current and voltage stabilization spaces;

[0006] A collection module, connected to the information setting module, for respectively determining the working environment information of the plurality of target robots, collecting the working information of the power boards of the plurality of target robots based on the monitoring points, and transmitting the working information to the corresponding current stabilization space of the power board according to the working environment information of the target robots;

[0007] The voltage stabilization control module is connected to the acquisition module and is used to control the virtual shadow in the voltage stabilization shadow. The corresponding target robot is linearly adjusted through the voltage stabilization shadow and the puppet line to complete the current stabilization task of the power board.

[0008] In a preferred embodiment, the information setting module includes:

[0009] An information acquisition unit, used to acquire a plurality of working environment information, wherein the working environment information includes the ambient temperature, ambient humidity and particle density of the target robot;

[0010] A setting unit is used to formulate corresponding power board current regulation spaces for multiple working environment information. Multiple voltage regulation shadows are set in each power board current regulation space. Among them, the number of voltage regulation shadows is the same as the number of target robots, and the multiple voltage regulation shadows in each power board current regulation space are isolated from each other.

[0011] In a preferred embodiment, the setting unit includes:

[0012] A binding unit is used to respectively configure corresponding cloud servers for binding according to multiple working environment information to obtain a power board current regulation space;

[0013] A first construction unit is used to perform space division in the cloud server to obtain multiple sub-spaces, correspond and bind the target robots with the sub-spaces one by one, set a power board model corresponding to the target robot in the sub-space, set multiple adjustment intervals for the corresponding power board model, set corresponding adjustment points in the multiple adjustment intervals, respectively connect puppet lines to the adjustment points in the multiple adjustment intervals, and use the power board model, adjustment intervals, adjustment points, and puppet lines as voltage regulation shadows;

[0014] A second construction unit is used to respectively set corresponding mapping films for multiple voltage regulation shadows in the sub-space. Among them, the mapping film is composed of a combination of multiple unit storage spaces with the same number as the target robots, and the voltage regulation shadows are connected to the corresponding unit storage spaces.

[0015] In a preferred embodiment, the first construction unit includes:

[0016] A marking unit is used to set multiple adjustment intervals for the power board model, respectively set corresponding adjustment types for the multiple adjustment intervals, and perform parameter marking on the adjustment intervals according to the adjustment types;

[0017] A connection unit is used to set a single adjustment point in a single adjustment interval. The adjustment point is used to move in the adjustment interval, and a connected puppet line is set for the adjustment point. Among them, the puppet line is composed of a fixed number of multiple puppet points connected in sequence, and the positional relationship between the multiple puppet points is in a fixed state.

[0018] In a preferred embodiment, the acquisition module includes:

[0019] A data acquisition unit is used to set multiple monitoring points on the power board of the target robot, and collect temperature data, current data, and voltage data of the target robot's power board as working information through the monitoring points;

[0020] A transmission unit is used to determine the actual working environment information of the target robot, and upload the working information to the power board current regulation space of the cloud server corresponding to the working environment information;

[0021] An adjustment determination unit, configured to obtain a control quantity that needs to be adjusted for a target robot under working environment information.

[0022] In a preferred embodiment, the voltage stabilization control module includes:

[0023] An information determination unit, configured to determine an adjustment type according to the control quantity that needs to be adjusted for the target robot, control adjustment points in the voltage stabilization image according to the adjustment type and the control quantity that needs to be adjusted, and obtain a virtual movement process of the adjustment points in the adjustment interval;

[0024] A copying unit, configured to copy the virtual movement process of the adjustment points on a mapping film, and perform comprehensive analysis on the virtual movement processes in all mapping films in a single cloud server to obtain a target movement process;

[0025] An adjustment unit, configured to communicatively connect the adjustment points to the target robot through puppet lines, and linearly adjust the load of the target robot according to the target movement process of the adjustment points.

[0026] In a preferred embodiment, the copying unit includes:

[0027] A calculation unit, configured to enable a comprehensive analysis operation every time a newly copied virtual movement process is added to all mapping films in a single cloud server. Specifically: , where is the control quantity that needs to be adjusted for the adjustment points, is the number of times of virtual movement process replication existing in all mapping films in a single cloud server, is the control quantity that needs to be adjusted corresponding to the virtual movement process replication existing in the t-th mapping film, is a weight coefficient;

[0028] A movement determination unit, configured to control and move the corresponding adjustment points according to the control quantity that needs to be adjusted for the adjustment points to obtain a target movement process.

[0029] In a preferred embodiment, the adjustment unit includes:

[0030] A movement adjustment unit, configured to be able to drive the puppet lines to move during the movement of the adjustment points. There are multiple control data planes at one end of the puppet lines connected to the target robot, and parameter marks identical to the adjustment interval are set on the control data planes;

[0031] A load adjustment unit, configured to when the puppet lines move, the position of one end of the puppet lines connected to the target robot will change on the data plane, and adjust the power supply board of the target robot according to the movement process of one end of the puppet lines on the data plane.

[0032] In the above technical solution, the technical effects and advantages provided by the present invention are as follows:

[0033] The present invention adjusts the power supply board of the target robot according to the movement process of one end of the puppet line on the data plane, can quickly adjust the load of the power supply board, has high reaction ability, and improves the safe operation of the target robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings.

[0035] Figure 1 It is the system block diagram of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0036] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0037] Embodiment 1. Please refer to Figure 1 As shown, the current voltage stabilization system for the power supply board of the collaborative robot based on a complex environment in this embodiment includes:

[0038] An information setting module, configured to determine multiple working environment information, respectively formulate corresponding multiple power supply board current voltage stabilization spaces based on the multiple working environment information, and set voltage stabilization shadows for multiple target robots respectively in the multiple power supply board current voltage stabilization spaces;

[0039] An acquisition module, connected to the information setting module, configured to respectively determine the working environment information of multiple target robots, collect the working information of the power supply boards of multiple target robots based on the monitoring points, and transmit the working information to the corresponding power supply board current voltage stabilization space according to the working environment information of the target robots;

[0040] The voltage stabilization control module, connected to the acquisition module, is used to control the virtual image in the voltage stabilization shadow. Through the voltage stabilization shadow and the puppet line, the corresponding target robot is linearly adjusted (the meaning of linear adjustment is to make gradual adjustments according to the movement process of the puppet line on the control data plane. One end of the puppet line connected to the control data plane has a movement process, and during the movement, it will be gradually adjusted to the target value through different parameters, so this process is regarded as linear adjustment), and the task of stabilizing the current of the power supply board is completed;

[0041] The power supply board current voltage stabilization space can determine the load adjustment of the target robot's power supply board according to the working environment information. In each power supply board current voltage stabilization space, a voltage stabilization shadow corresponding to the number of target robots is set. This voltage stabilization shadow is an analysis of the environment and power load adjustment of the corresponding target robot, and can perform high-precision load adjustment on the target robot through the voltage stabilization shadow in the follow-up, with high reaction ability; adjusting the power supply board of the target robot according to the movement process of one end of the puppet line on the data plane can achieve the situation of quickly adjusting the power supply board load, with high reaction ability, and improve the safe operation of the target robot.

[0042] In one embodiment, the information setting module includes:

[0043] The information acquisition unit is used to acquire multiple working environment information, where the working environment information includes the ambient temperature, ambient humidity, and particle density in the environment where the target robot is located;

[0044] The setting unit is used to formulate corresponding power supply board current voltage stabilization spaces for multiple working environment information. In each power supply board current voltage stabilization space, multiple voltage stabilization shadows are set. Among them, the number of voltage stabilization shadows is the same as the number of target robots, and the multiple voltage stabilization shadows in each power supply board current voltage stabilization space are isolated from each other;

[0045] It should be noted that multiple environmental temperatures, multiple environmental humidities, and particulate densities in multiple environments where multiple target robots are located are obtained. For example, the target robots will transfer work locations, and different work locations have different work environment information. When there are two work locations, the temperature at one work location is 40 degrees Celsius, the environmental humidity in the air is: relative humidity is 60%, and the particulate density in the environment is 200 µg / m³; at the other work location, there is other work environment information. Since the work environment will affect the current and voltage of the robot's power board, it is necessary to adjust the load of the robot's power board according to the work environment to ensure the normal operation of the robot and avoid damage to the robot's power board. Then, corresponding power board current regulation spaces are configured for multiple work environment information respectively. The power board current regulation space here can determine the load adjustment of the target robot's power board according to the work environment information. A voltage regulation shadow corresponding to the number of target robots is set in each power board current regulation space. The voltage regulation shadow is an analysis of the environment and power load adjustment of the corresponding target robot, which can perform high-precision load adjustment on the target robot through the voltage regulation shadow in the subsequent process and has an efficient response ability.

[0046] In one embodiment, the setting unit includes:

[0047] A binding unit for binding corresponding cloud servers respectively for multiple work environment information to obtain a power board current regulation space;

[0048] A first construction unit for partitioning space in the cloud server to obtain multiple sub-spaces, corresponding and binding the target robots with the sub-spaces one by one, setting a power board model corresponding to the target robot in the sub-space, setting multiple adjustment intervals for the corresponding power board model, setting corresponding adjustment points in the multiple adjustment intervals, connecting puppet lines to the adjustment points in the multiple adjustment intervals respectively, and taking the power board model, adjustment intervals, adjustment points, and puppet lines as the voltage regulation shadow;

[0049] A second construction unit for setting corresponding mapping membranes respectively for multiple voltage regulation shadows in the sub-space. Among them, the mapping membrane is composed of multiple unit storage spaces with the same number as the target robots, and connecting the voltage regulation shadow with the corresponding unit storage space;

[0050] It should be noted that there are various types of working environment information. Therefore, when the target robot enters different working environment information, different coping strategies for load adjustment are required. Therefore, in order to make adaptive adjustments to the working environment information, it is necessary to configure a corresponding cloud server for the working environment information here. There is an information binding relationship between the cloud server and the corresponding working environment information. After that, the power board current regulation space corresponding to the working environment information is obtained. In this space, the voltage regulation and intelligent adjustment of the target robot can be completed, which can ensure the stability and safety of the subsequent operation of the target robot. The specific settings are as follows: Multiple sub-spaces are divided in the cloud server according to the number of target robots. Each cloud server needs to correspond to all target robots. The sub-space here can carry out all the regulation behaviors related to the corresponding target robot. Therefore, the target robot is corresponded and bound to the sub-space one by one. The data processed in the operation of the sub-space are all related to the corresponding target robot. After that, a power board model of the target robot is constructed and stored in the corresponding sub-space. The power board model exists as a carrier. Multiple adjustment intervals are set in the power board model corresponding to the sub-space. Each adjustment interval in the multiple adjustment intervals represents different parameter types, such as the adjustment of the current or voltage of the power board. Different positions in each adjustment interval represent different parameter value sizes. Therefore, for subsequent adjustment, corresponding adjustment points are set for each adjustment interval. Each adjustment interval has one adjustment point. After that, corresponding puppet lines are set for the multiple adjustment points respectively, which can be used to adjust the power board load of the actual corresponding target robot through the adjustment points and the puppet lines later, playing a role in stabilizing the current of the power board of the target robot. In order to better and more accurately adjust multiple target robots, it is necessary to comprehensively analyze the load adjustment information of all target robots under a single working environment information here, and be able to adaptively synthesize the adjustment parameters of all target robots for reverse adjustment for all target robots as a decision. The specific settings are as follows: Corresponding mapping membranes are set for multiple voltage regulators in the sub-space. Multiple unit storage spaces are combined to form a mapping membrane. The number of unit storage spaces is the same as the number of voltage regulators. The mapping membrane is corresponded and connected to the voltage regulator one by one. After that, the voltage regulator can copy the movement process of its own adjustment point onto the mapping membrane. Subsequently, the movement process of the adjustment point between the mapping membranes corresponding to a single working environment information can be comprehensively analyzed, and then fed back to the actual adjustment process of the adjustment point in reverse. The movement process of the adjustment point represents the load adjustment process of the power board of the target robot. This decision is completed through PID algorithm control. Specifically: , where is the proportional coefficient, is the integral coefficient, is the differential coefficient, is the control quantity to be adjusted, is the error between the current current and the target current, is the rate of change of the error between the current current and the target current, is the error time increment. The control quantity to be adjusted can be obtained, including, for example, the duty cycle or the reference voltage. Then, according to the output data is loaded on the adjustment point. According to the adjustment point, the corresponding value is found in the adjustment interval where it is located. Then, through the puppet line, the actual target robot can be efficiently loaded and adjusted, enabling the power supply board of the target robot to quickly adapt to the surrounding environment.

[0051] In one embodiment, the first construction unit includes:

[0052] A marking unit for setting a plurality of adjustment intervals corresponding to the power supply board model, setting corresponding adjustment types for the plurality of adjustment intervals respectively, and marking parameters for the adjustment intervals according to the adjustment types;

[0053] A connection unit for setting a single adjustment point in a single adjustment interval. The adjustment point is used to move in the adjustment interval, and a connected puppet line is set corresponding to the adjustment point. Among them, the puppet line is composed of a fixed number of puppet points connected in sequence, and the positional relationship between the plurality of puppet points is in a fixed state;

[0054] It should be noted that a plurality of adjustment intervals are set corresponding to the power supply board model. Among them, the plurality of adjustment intervals are all data carrying areas, which can record the marked parameters and specific values in the data carrying area, and at the same time can satisfy the movement of the adjustment point in the data carrying area. The adjustment point is a movable port, which can move in the data carrying area and is connected to the target robot through the puppet line, enabling rapid adjustment. The puppet line is fixed by the puppet points, so the target robot can be quickly adjusted and controlled, improving the environmental adaptability of the target robot.

[0055] In one embodiment, the acquisition module includes:

[0056] A data acquisition unit for setting a plurality of monitoring points on the power supply board of the target robot, and collecting temperature data, current data, and voltage data of the power supply board of the target robot as working information through the monitoring points;

[0057] A transmission unit for determining the actual working environment information of the target robot and uploading the working information to the power supply board current voltage stabilization space of the cloud server corresponding to the working environment information;

[0058] An adjustment determination unit for obtaining the control quantity that the target robot needs to adjust under the working environment information;

[0059] It should be noted that multiple detection points are set on the power supply board of the target robot. These detection points can be used to monitor the temperature data, current data, and voltage data of the power supply board as working information. The monitoring points are various sensors corresponding to the working information. Then, the working information collected through the monitoring points is transmitted to the power supply board current voltage stabilization space of the cloud server corresponding to the working environment information where the target robot is located. Then, under the working environment information, the control quantity that the target robot needs to adjust is obtained. , and the parameters that need to be adjusted can be calculated quickly.

[0060] In one embodiment, the voltage stabilization control module includes:

[0061] An information determination unit, configured to determine the adjustment type according to the control quantity that the target robot needs to adjust, control the adjustment points in the voltage stabilization image according to the adjustment type and the control quantity that needs to be adjusted, and obtain the virtual movement process of the adjustment points in the adjustment interval;

[0062] A replication unit, configured to replicate the virtual movement process of the adjustment points on the mapping film, and perform comprehensive analysis on the virtual movement processes in all the mapping films in a single cloud server to obtain the target movement process;

[0063] An adjustment unit, configured to communicate the adjustment points with the target robot through a puppet line, and linearly adjust the load of the target robot according to the target movement process of the adjustment points;

[0064] In one embodiment, the replication unit includes:

[0065] A calculation unit, configured to enable a comprehensive analysis action every time a newly replicated virtual movement process is added to all the mapping films in a single cloud server. Specifically: , where is the control quantity that the adjustment point needs to adjust, is the number of times of virtual movement process replication existing in all the mapping films in a single cloud server, is the control quantity that needs to be adjusted corresponding to the virtual movement process replication existing in the t-th mapping film, is the weight coefficient;

[0066] A movement determination unit, configured to control and move the corresponding adjustment points according to the control quantity that the adjustment point needs to adjust to obtain the target movement process;

[0067] In one embodiment, the adjustment unit includes:

[0068] A movement adjustment unit, configured to be able to drive the puppet line to move during the movement of the adjustment point. There are multiple control data surfaces at the end of the puppet line connected to the target robot, and parameter marks identical to the adjustment interval are set on the control data surfaces.

[0069] A load adjustment unit, which is used to adjust the power supply board of the target robot according to the movement process of one end of the dummy line on the data plane when the dummy line moves. When the dummy line moves, the position of the end of the dummy line connected to the target robot changes on the data plane.

[0070] It should be noted that the adjustment type can be determined according to the control quantity to be adjusted of the target robot to obtain the adjustment interval corresponding to the adjustment type. The adjustment point in the voltage stabilizer is controlled according to the adjustment type and the control quantity to be adjusted, and the virtual movement process of the adjustment point in the adjustment interval is obtained. This virtual movement process is a process in which the adjustment point is temporarily disconnected from the dummy point and moves by itself. Disconnecting from the dummy line means that it will not cause the dummy line to move. Then, the movement process is mapped (copied) on the mapping film. The mapping films corresponding to all target robots are comprehensively analyzed in a single cloud server to obtain the target movement process. Multiple mapping films can communicate with each other. Then, every time a newly copied movement process is added to all the mapping films in a single cloud server, the comprehensive analysis action is enabled. Since it is in the same working environment information, the adjustment degree can be balanced. Finally, the corresponding adjustment point is controlled to move according to the control quantity to be adjusted of the adjustment point to obtain the target movement process. This target movement process is based on After adjustment; then, the adjustment point is actually moved according to the target movement process. During the movement of the adjustment point, the dummy line can be driven to move. There are multiple control data planes at the end of the dummy line connected to the target robot (this control data plane is the construction of the receiving end of the target robot). Parameter marks identical to the adjustment interval are set on the control data plane. Then, when the dummy line moves, the position of the end of the dummy line connected to the target robot changes on the data plane. The power supply board of the target robot is adjusted according to the movement process of one end of the dummy line on the data plane, which can realize the rapid adjustment of the power supply board load, has high reaction ability, and improves the safe operation of the target robot.

[0071] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. Based on the complex environment collaborative robot power board current stabilization system, it is characterized by: include: An information setting module, used to determine a plurality of working environment information, formulate a plurality of corresponding power board current and voltage stabilization spaces based on the plurality of working environment information, and set voltage stabilization shadows corresponding to a plurality of target robots in the plurality of power board current and voltage stabilization spaces; A collection module, connected to the information setting module, for respectively determining the working environment information of the plurality of target robots, collecting the working information of the power boards of the plurality of target robots based on the monitoring points, and transmitting the working information to the corresponding current stabilization space of the power board according to the working environment information of the target robots; The voltage stabilization control module is connected to the acquisition module and is used to control the virtual shadow in the voltage stabilization shadow. The corresponding target robot is linearly adjusted through the voltage stabilization shadow and the puppet line to complete the current stabilization task of the power board.

2. The current stabilizing system for power supply board of collaborative robot in complex environment according to claim 1 is characterized by: The information setting module includes: An information acquisition unit, used to acquire a plurality of working environment information, wherein the working environment information includes the ambient temperature, ambient humidity and particle density of the target robot; A setting unit is used to formulate corresponding power board current stabilization spaces corresponding to multiple working environment information. Multiple voltage stabilization shadows are set in each power board current stabilization space, wherein the number of voltage stabilization shadows is the same as the number of target robots, and the multiple voltage stabilization shadows in each power board current stabilization space are isolated from each other.

3. The current stabilizing system for power supply board of collaborative robot in complex environment according to claim 2 is characterized by: The setting unit comprises: A binding unit, used to configure corresponding cloud servers for binding corresponding to multiple working environment information, so as to obtain a current stabilization space of a power board; The first construction unit is used to divide the space in the cloud server to obtain multiple subspaces, correspond the target robot to the subspaces one by one and bind them, set a power board model corresponding to the target robot in the subspace, set multiple adjustment intervals corresponding to the power board model, set corresponding adjustment points in the multiple adjustment intervals, connect puppet lines to the adjustment points in the multiple adjustment intervals respectively, and use the power board model, the adjustment intervals, the adjustment points and the puppet lines as voltage stabilization shadows; The second construction unit is used to set corresponding mapping membranes in the subspace corresponding to the multiple pressure-stabilizing shadows, wherein the mapping membrane is composed of a plurality of unit storage spaces having the same number as the target robot, and connects the pressure-stabilizing shadows with the corresponding unit storage spaces.

4. The current stabilizing system for power supply board of collaborative robot in complex environment according to claim 3 is characterized by: The first building block comprises: A marking unit, used to set a plurality of adjustment intervals corresponding to the power board model, set corresponding adjustment types for the plurality of adjustment intervals, and perform parameter marking on the adjustment intervals according to the adjustment types; The connection unit is used to set a single adjustment point in a single adjustment interval, and the adjustment point is used to move in the adjustment interval. A connected puppet line is set corresponding to the adjustment point, wherein the puppet line is composed of a fixed number of multiple puppet points connected in sequence, and the positional relationship between the multiple puppet points is fixed.

5. The current stabilizing system for power supply board of collaborative robot in complex environment according to claim 1 is characterized by: The acquisition module comprises: A data acquisition unit is used to set a plurality of monitoring points on the power board of the target robot, and collect temperature data, current data and voltage data of the power board of the target robot as working information through the monitoring points; A transmission unit, used to determine the actual working environment information of the target robot, and upload the working information to the current stabilization space of the power board of the cloud server corresponding to the working environment information; The adjustment determination unit is used to obtain the control amount that needs to be adjusted for the target robot under the working environment information.

6. The current stabilizing system for power supply board of collaborative robot in complex environment according to claim 1 is characterized by: The voltage stabilization control module comprises: An information determination unit is used to determine the adjustment type according to the control amount that needs to be adjusted of the target robot, control the adjustment point in the voltage stabilization shadow according to the adjustment type and the control amount that needs to be adjusted, and obtain the virtual movement process of the adjustment point in the adjustment interval; A replication unit, used for replicating the virtual movement process of the adjustment point on the mapping film, and performing a comprehensive analysis on the virtual movement processes in all the mapping films in a single cloud server to obtain a target movement process; The regulating unit is used to establish a communication connection between the regulating point and the target robot through a puppet line, and to linearly regulate the load of the target robot according to the target movement process of the regulating point.

7. The current stabilizing system for power supply board of a collaborative robot in a complex environment according to claim 6 is characterized by: The replication unit comprises: The computing unit is used to enable comprehensive analysis actions for each newly copied virtual move process in all mapping membranes of a single cloud server, specifically: ,in, The control quantity that needs to be adjusted is the adjustment point. is the number of times the virtual movement process is replicated in all mapping membranes in a single cloud server, The control amount that needs to be adjusted for the virtual movement process replication in the t-th mapping membrane, is the weight coefficient; The movement determination unit is used to control the movement of the corresponding adjustment point according to the control amount that needs to be adjusted at the adjustment point to obtain a target movement process.

8. The current stabilizing system for power supply board of collaborative robot in complex environment according to claim 6 is characterized by: The adjustment unit comprises: A mobile adjustment unit is used to drive the puppet line to move during the movement of the adjustment point. There are multiple control data planes at one end where the puppet line is connected to the target robot. The control data planes are provided with parameter marks that are the same as the adjustment interval. The load adjustment unit is used to adjust the power board of the target robot according to the movement of one end of the puppet line on the data plane when the puppet line moves, so that the end of the puppet line connected to the target robot will change its position on the data plane.

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