Power supply system and method for robot, robot and computer program product

Abstract

The invention is suitable for the technical field of robots, and provides a power supply system and method of a robot, the robot and a computer program product. The power supply system of the robot comprises a charging interface board and a power panel connected with the charging interface board. The power panel is provided with a main loop, a pre-charging loop, a hard switch connected with the main loop, a functional module connected with the main loop and the pre-charging loop, and a first control module, and the main loop and the pre-charging loop are connected in parallel; the first control module is used for controlling the pre-charging loop to take electricity from the charging interface board when it is detected that the hard switch is turned on so as to pre-charge the functional module; and when the pre-charging is completed, controlling the pre-charging loop to be closed, and controlling the main loop to take power from the charging interface board so as to supply power to the functional module. According to the embodiment of the invention, the power supply safety of the robot can be improved.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and in particular, relates to a power supply system, method, robot and computer program product of a robot. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. The power supply system of a robot is a necessary component to ensure that the robot can work normally. The power supply system of a robot has complex functions, especially for humanoid robots. Because the current of the whole machine is very large under various working conditions such as walking, running, and jumping, the power supply system is prone to failure or damage. Summary of the invention

[0003] The embodiments of the present application provide a power supply system, method, robot and computer program product for a robot, which can improve the power supply safety of the robot.

[0004] A first aspect of an embodiment of the present application provides a power supply system for a robot, comprising a charging interface board and a power board connected to the charging interface board; the power board is provided with a main circuit, a pre-charging circuit, a hard switch connected to the main circuit, a functional module connected to both the main circuit and the pre-charging circuit, and a first control module, the main circuit and the pre-charging circuit are connected in parallel; the first control module is used to control the pre-charging circuit to draw power from the charging interface board to pre-charge the functional module when it detects that the hard switch is turned on; and when the pre-charging is completed, control the pre-charging circuit to close, and control the main circuit to draw power from the charging interface board to power the functional module.

[0005] In some embodiments of the first aspect, the pre-charging loop includes a bypass resistor and a metal oxide semi-conductor field effect transistor, and the first control module is used to confirm that the pre-charging is completed when the voltage difference between the two sides of the metal oxide semi-conductor field effect transistor in the pre-charging loop is less than a difference threshold.

[0006] In some embodiments of the first aspect, the functional module includes a first functional module connected to the main circuit and the pre-charging circuit through a corresponding DC-DC conversion power supply; the DC-DC conversion power supply is used to convert the voltage input to the main circuit or the pre-charging circuit into a voltage required by the first functional module.

[0007] In some embodiments of the first aspect, each of the functional modules is connected to the main circuit and the pre-charging circuit through a corresponding power switch; the first control module is also used to control the power switch according to a control instruction to control the power supply status of the connected functional module.

[0008] In some embodiments of the first aspect, the functional module includes a second functional module connected to the main circuit and the pre-filling circuit through a corresponding power switch and an independent pre-filling circuit.

[0009] In some embodiments of the first aspect, the charging interface board includes a charging circuit; the charging circuit is used to detect the input voltage when it detects that the charger is connected, and to turn on when the input voltage is within a preset voltage range, so as to charge the battery pack or transmit power to the main circuit and the pre-charging circuit.

[0010] In some embodiments of the first aspect, the charging interface board is connected to the main circuit and the pre-charging circuit through an electromagnetic compatibility filter.

[0011] A second aspect of an embodiment of the present application provides a power supply method for a robot, wherein the robot is configured with a power supply system of the robot, and the power supply system includes a charging interface board and a power supply board connected to the charging interface board; the power supply board is provided with a main circuit, a pre-charging circuit, a hard switch connected to the main circuit, a functional module connected to both the main circuit and the pre-charging circuit, and a first control module, and the main circuit and the pre-charging circuit are connected in parallel; the power supply method for the robot includes: when it is detected that the hard switch is turned on, controlling the pre-charging circuit to draw power from the charging interface board to pre-charge the functional module; when the pre-charging is completed, controlling the pre-charging circuit to be closed, and controlling the main circuit to draw power from the charging interface board to power the functional module.

[0012] A third aspect of an embodiment of the present application provides a robot equipped with a power supply system as described in any one of the first aspects.

[0013] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the power supply method for the robot are implemented.

[0014] A fifth aspect of an embodiment of the present application provides a computer program product. When the computer program product runs on a robot, the robot executes the steps of the above-mentioned robot power supply method.

[0015] In an embodiment of the present application, the first control module can control the pre-charging circuit to draw power from the charging interface board to pre-charge the functional module when it detects that the hard switch is turned on, and when the pre-charging is completed, control the pre-charging circuit to close and control the main circuit to draw power from the charging interface board to power the functional module, thereby reducing the risk of damage to the main circuit due to the impact current during power-on, and ensuring that the robot can be powered on safely without damaging the main components. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1 It is a schematic diagram of the structure of a power supply system of a robot provided in an embodiment of the present application;

[0018] Figure 2 It is a schematic diagram of the specific structure of a charging interface board in a power supply system of a robot provided in an embodiment of the present application;

[0019] Figure 3 It is a first specific structural schematic diagram of a power board in a power supply system of a robot provided in an embodiment of the present application;

[0020] Figure 4 It is a second specific structural schematic diagram of a power board in a power supply system of a robot provided in an embodiment of the present application;

[0021] Figure 5 It is a third specific structural schematic diagram of a power board in a power supply system of a robot provided in an embodiment of the present application;

[0022] Figure 6 It is a fourth specific structural schematic diagram of a power board in a power supply system of a robot provided in an embodiment of the present application;

[0023] Figure 7 It is a first specific structural schematic diagram of a power supply system of a robot provided in an embodiment of the present application;

[0024] Figure 8 is a second specific structural schematic diagram of a power supply system for a robot provided in an embodiment of the present application;

[0025] Fig. 9 is a schematic diagram of a specific structure of a first control module of a robot provided in an embodiment of the present application;

[0026] Fig.10 It is a schematic diagram of the implementation flow of a power supply method for a robot provided in an embodiment of the present application;

[0027] Fig.11 It is a schematic diagram of the structure of the robot provided in the embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work are protected by the present application.

[0029] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0030] In the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0031] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0032] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. The power supply system of a robot is a necessary component to ensure that the robot can work normally. The power supply system of a robot has complex functions, especially for humanoid robots. Because the current of the whole machine is very large under various working conditions such as walking, running, and jumping, the power supply system is prone to failure or damage.

[0033] In view of this, the present application proposes a power supply system for a robot, which can reduce the risk of damage to the main circuit due to the impact current when powering on, and ensure that the robot can be powered on safely without damaging the main components.

[0034] In order to illustrate the technical solution of the present application, a specific embodiment is provided below for illustration.

[0035] Figure 1 A schematic structural diagram of a power supply system for a robot provided in an embodiment of the present application is shown.

[0036] Specifically, the power supply system of the robot may include: a charging interface board and a power board connected to the charging interface board.

[0037] The power board is provided with a main circuit, a pre-charging circuit, a hard switch connected to the main circuit, a functional module connected to both the main circuit and the pre-charging circuit, and a first control module.

[0038] Specifically, the charging interface board can be used to supply power to the main circuit and the pre-charging circuit.

[0039] The main circuit and the pre-charge circuit are connected in parallel. The main circuit and the pre-charge circuit are respectively provided with a metal-oxide-semiconductor field-effect transistor (MOSFET), which can be used to control the power supply between the charging interface board and the functional module.

[0040] The functional module is used to realize the specific functions of the robot. It can be a software functional module or a hardware functional module, including but not limited to: main board, peripherals (such as sensors, fans, switches, etc.), and joint system.

[0041] The first control module may be a microcontroller unit (MCU), a system on chip (SoC) or other modules with control functions. The first control module may be connected to other components of the power supply system (such as hard switches, main circuits, pre-charge circuits, functional modules, etc.) to perform power supply control or other motion control.

[0042] In an embodiment of the present application, the first control module can be used to control the pre-charging circuit to draw power from the charging interface board to pre-charge the functional module when it detects that the hard switch is turned on; and when the pre-charging is completed, control the pre-charging circuit to close and control the main circuit to draw power from the charging interface board to power the functional module.

[0043] Since the entire power supply system has a large number of capacitors, if there is no pre-charging circuit, the impact current of the main circuit during the robot power-on process can reach several thousand amperes. In some embodiments of the present application, the pre-charging circuit includes a bypass resistor and a metal oxide semiconductor field effect transistor, and the subsequent functional module is powered by the bypass resistor. The first control module can be used to confirm that the pre-charging is completed when the voltage difference on both sides of the metal oxide semiconductor field effect transistor of the pre-charging circuit is less than the difference threshold, and turn on the metal oxide semiconductor field effect transistor of the main circuit to avoid impact current during the robot power-on process and cause damage to the device.

[0044] In an embodiment of the present application, the first control module can control the pre-charging circuit to draw power from the charging interface board and pre-charge the functional module when it detects that the hard switch is turned on, and when the pre-charging is completed, control the pre-charging circuit to close, control the main circuit to draw power from the charging interface board, and supply power to the functional module, thereby reducing the risk of damage to the main circuit due to the impact current during power-on, and ensuring that the robot can be powered on safely without damaging the main components.

[0045] In some embodiments of the present application, Figure 2 As shown, the charging interface board may include a battery interface and a power board interface. The battery interface is connected to the battery pack, and the power board interface is connected to the main circuit and the pre-charge circuit. Then, the main circuit and the pre-charge circuit can draw power from the battery pack.

[0046] In some embodiments of the present application, Figure 2 As shown, the charging interface board may include a charging circuit. The charging circuit may be connected to the battery interface and the power board interface respectively. The charging circuit is used to detect the input voltage when the charger is detected to be connected, and to conduct when the input voltage is within a preset voltage range to charge the battery pack or transmit power to the main circuit and the pre-charging circuit.

[0047] In some embodiments of the present application, the charging circuit may include an N-channel metal oxide semi-conductor field effect transistor (NMOS) and be connected to a charging interface, and the charging interface is used to connect to an external charger.

[0048] Specifically, the charging interface may include one or more of a fast charging interface and a slow charging interface.

[0049] The fast charger is connected to the charging interface board through the fast charging interface. The NMOS of the charging circuit can only be turned on when the fast charger is inserted and the fast charger outputs a suitable voltage. If the battery pack is charged and the fast charger is not inserted, the fast charging interface is de-energized, ensuring that people will not get electric shock when touching the fast charging interface.

[0050] The slow charger is connected to the charging interface board through the slow charging interface. The NMOS of the charging circuit can be turned on only when the slow charger is inserted and the slow charger outputs a suitable voltage. If the battery pack is charged and the slow charger is not inserted, the slow charging interface is de-energized, ensuring that people will not get an electric shock when touching the slow charging interface. The charging current between the slow charging interface and the fast charging interface is different.

[0051] In some embodiments of the present application, Figure 2As shown, the charging interface board may further include a battery bus interface. The battery bus interface may be connected to the battery bus interface of the fast charging interface board. Among them, the battery bus interface of the fast charging interface board can be used to connect the first control module. The battery bus interface may be a controller area network (CAN) bus interface or a bus interface using other protocols, which is not limited in this application. In this way, through the battery bus interface and the battery bus interface of the fast charging interface board, the first control module can draw power from the battery pack and power on in order to perform relevant control functions.

[0052] In some embodiments of the present application, the charging interface board may be connected to the main circuit and the pre-charging circuit via an electromagnetic compatibility (EMC) filter. Figure 3 As shown, the power board interface of the charging interface board is connected to the power board interface set on the power board. The power board interface set on the power board can be connected to the electromagnetic compatibility filter, and the electromagnetic compatibility filter can be connected to the main circuit and the pre-charging circuit. The electromagnetic compatibility filter can be used to suppress and eliminate strong electromagnetic interference and electric spark interference.

[0053] In some embodiments of the present application, Figure 3 As shown, the pre-charging circuit and the main circuit can be connected to the functional module through the main power network, wherein the main power network is used for power distribution, and the voltage range can be 38 to 58V, specifically 48V.

[0054] In some embodiments of the present application, the functional module may include a first functional module connected to the main circuit and the pre-charging circuit via a corresponding DC-DC conversion power supply. The DC-DC conversion power supply is used to convert the voltage input from the main circuit or the pre-charging circuit into a voltage required by the first functional module.

[0055] Specifically, Figure 4 As shown, the pre-charging circuit and the main circuit can be connected to the main power network, and the main power network can be connected to the DC-DC conversion power supply. The DC-DC conversion power supply can be used to convert the 48V voltage input from the main circuit or the pre-charging circuit into the voltage required by the first functional module such as 12V, 18V, 5V, 24V, etc.

[0056] Among them, the first functional module can be a mainboard, a chip, a sensor, a switch or other peripherals, and specifically can include but is not limited to: a mainboard, a first control module, a reserved interface, a remote control receiver, a control chip of each functional module, a head controller, a fan interface, a wireless communication module, a switch, a power amplifier module, and a video interface board. It should be noted that the number of each first functional module can be one or more, for example, there can be multiple mainboards, multiple switches, multiple fan interfaces, etc. The DC-DC conversion power supplies corresponding to different first functional modules can be the same or different, for example, the power amplifier module and the video interface board can be connected to the same DC-DC conversion power supply.

[0057] In some implementations of the present application, the control chip of each functional module and the first control module may be connected to a DC-DC conversion power supply via a low-dropout regulator (Low-dropout regulator, LDO).

[0058] In some embodiments of the present application, each functional module is connected to the main circuit and the pre-charging circuit through a corresponding power switch.

[0059] For details, please refer to Figure 4 In some embodiments of the present application, a switching power supply may be provided between the first functional module and the DC-DC conversion power supply.

[0060] In some other embodiments of the present application, the above functional module may include a second functional module, and the second functional module may be connected to the main circuit and the pre-charging circuit through a power switch and an independent pre-charging circuit. Figure 5 The pre-charging circuit and the main circuit can be connected to the main power network, and the main power network can be connected to the power switch and the independent pre-charging circuit. The power switch and the independent pre-charging circuit are connected to the second functional module.

[0061] In some specific embodiments, the second functional module may refer to a joint system, including but not limited to: a head joint system, a leg joint system, and a hand joint system.

[0062] In some embodiments, the second functional module can be connected to the power switch and the independent pre-charging circuit through a voltage module, and the voltage module is used to ensure the voltage output to the second functional module, for example, 48V.

[0063] For details, please refer to Figure 6The hand joint system may include a left hand joint system and a right hand joint system, and the hand joint system on each side may be connected to a power switch and an independent pre-charging circuit through a voltage module. The hand joint system on each side may contain small joints and middle joints, a force sensor and a dexterous hand, and the total number of joints may be 7 (specifically 3 small joints and 4 middle joints). The force sensor and the dexterous hand may be powered by real-time Ethernet. The hand joint system may also be provided with an independent overcurrent detection and protection circuit. The pre-charging time of the independent pre-charging circuit may be set to 1 second.

[0064] Please refer to Figure 6 The leg joint system may include a left leg joint system and a right leg joint system. The leg joint system on each side may be directly connected to a power switch and an independent pre-charging circuit. The leg joint system on each side may include a leg joint and a force sensor. The number of leg joints may be 6. The leg joint system may also be provided with an independent overcurrent detection and protection circuit. The pre-charging time of the independent pre-charging circuit may be set to 1 second.

[0065] The head joint system may include a head joint and a head control board. The head system may also be provided with an independent overcurrent detection and protection circuit.

[0066] Figure 7 A specific structural schematic diagram of the power supply system of the present application is shown, in which the battery pack is connected to the power board through the battery interface of the charging battery board and the power board interface of the charging battery board, and is connected to the battery bus interface of the fast charging interface board through the battery bus interface of the charging battery board. In addition, the charging battery board can be connected to an external charger through the charging circuit core charging interface. An electromagnetic compatibility filter may be provided at the rear end of the power board interface of the power board, and the electromagnetic compatibility filter is connected to the pre-charging circuit and the main circuit. The pre-charging circuit and the main circuit are connected to the main power supply network. The main power supply network can be connected to the first functional module through a DC-DC conversion power supply, and connected to the second functional module through a power switch and an independent pre-charging circuit. Please refer to Figure 8 The first functional module may include a mainboard, a fan interface, a wireless communication module, a power amplifier module, a video interface board, a switch, a first control module, a reserved interface, a remote control receiver, and a chip. Among them, the mainboard, fan interface, wireless communication module, power amplifier module, video interface board, switch and reserved interface can be connected to the DC-DC conversion power supply through a power switch, and the first control module and the chip can be connected to the DC-DC conversion power supply through a low voltage dropout regulator. The second functional module may include a hand joint system, a leg joint system and a head joint system. Among them, the hand joint system is connected through a voltage module, a power switch and an independent pre-charging circuit. For detailed connection methods and instructions, please refer to 2 to Figure 6 The relevant description is not repeated in this application.

[0067] In some embodiments of this application, please refer to Fig. 9 The hard switch can be connected to the main circuit through the first control module. The first functional module can also be connected to an emergency stop switch and a power on / off button.

[0068] In some embodiments of the present application, the first control module may also be used to control the power switch according to the control instruction to control the power supply status of the connected functional module.

[0069] Specifically, the first control module can be used to obtain control instructions according to the status of the emergency stop switch and the power button, and control the power switch according to the control instructions to control the power supply status of the functional module connected to the power switch.

[0070] More specifically, when the hard switch is turned on, the first control module is powered on, and first detects whether the duration of the power button being pressed exceeds the duration threshold (for example, 3s). If so, each power switch is turned on, and the power board works normally and outputs voltage to each functional module. If the emergency stop button is not pressed, the power board works normally and outputs voltage to each functional module. If the emergency stop button is pressed, the power board can turn off the power switch of the joint system to stop the power supply to the arm system and the leg system.

[0071] In this way, the robot can be controlled to maintain different operating states such as standby state, working state, and sleep state according to the control instructions. In the working state, the power board works normally to output voltage to each functional module. In the standby state, the power supply of the arm system and the leg system is stopped. In the sleep state, only the first control module is powered on and waits to be awakened by wireless communication or button.

[0072] In some embodiments of this application, please refer to Fig. 9 The first control module may also be connected to at least one of the following: an indicator light, a simulation debugging unit, a function debugging unit, a temperature sampling unit, a voltage sampling unit, a current sampling unit, an overcurrent protection unit, a network interface (such as an RJ45 interface), a CAN bus interface, a fan control unit, a main circuit, a DC-DC conversion power supply, a charger, and a mainboard. The CAN bus interface can be used to connect CAN devices, perform CAN debugging, or isolate chips.

[0073] In some embodiments of the present application, the first control module is also used to monitor the electrical parameters and temperature of the power board and / or the battery pack.

[0074] Specifically, the temperature can be obtained through the aforementioned temperature sampling unit. Electrical parameters may include but are not limited to voltage, current, power, etc., which can be obtained through the aforementioned voltage sampling unit and current sampling unit. By monitoring the electrical parameters and temperature of the power board, as well as the electrical parameters and temperature of the battery pack, if there is information such as excessive voltage, excessive current, and excessive temperature, the first control module can report the information to the main board via Ethernet, and the main board will implement an alarm (such as sound broadcast, the whole machine light turns red), and the overcurrent protection unit can trigger power-off protection when the current is too high.

[0075] Fig.10 A schematic diagram of the implementation flow of a power supply method for a robot provided in an embodiment of the present application is shown. The method can be applied to the robot and can be executed by a first control module.

[0076] Specifically, the power supply method of the robot may include the following steps S1001 to S1002.

[0077] Step S1001, when it is detected that the hard switch is turned on, the pre-charging circuit is controlled to draw power from the charging interface board to pre-charge the functional module.

[0078] Step S1002, when the pre-charging is completed, the pre-charging circuit is controlled to be closed, and the main circuit is controlled to draw power from the charging interface board to power the functional module.

[0079] In an embodiment of the present application, the first control module can control the pre-charging circuit to draw power from the charging interface board and pre-charge the functional module when it detects that the hard switch is turned on, and when the pre-charging is completed, control the pre-charging circuit to close, control the main circuit to draw power from the charging interface board, and supply power to the functional module, thereby reducing the risk of damage to the main circuit due to the impact current during power-on, and ensuring that the robot can be powered on safely without damaging the main components.

[0080] In some implementations of the present application, supplying power to the functional modules may include: supplying power in the order of a mainboard, peripherals, and a joint system.

[0081] Specifically, when it is detected that the hard switch is turned on, the first control module is powered on and pre-charged. After the pre-charge is completed, it can detect whether the power button is pressed. If so, the mainboard is powered on normally, and it is detected whether the mainboard is powered on normally. If not, an alarm is issued. After the mainboard is powered on normally, all peripherals are controlled to be powered on. After all peripherals are powered on, it is detected whether the emergency stop switch is pressed. If it is pressed, the power supply to the leg joints and arm joints is turned off. If the emergency stop switch is not pressed, turn on the power switch of the leg system, delay for the first preset time length (for example, 500ms), turn on the power switch of the arm system, delay for the second preset time length (for example, 500ms), and confirm that the power-on is successful.

[0082] In some implementations of the present application, in order to ensure power-on reliability, a self-check may be performed before power is supplied to the functional module.

[0083] Specifically, the above self-test may include but is not limited to: 1. Detecting whether the battery pack voltage is within the normal voltage range, such as 40-60V; 2. Detecting whether each DC-DC conversion power supply is operating normally; 3. Detecting whether the output voltage of the main circuit and the pre-charging circuit is within the normal voltage range, such as whether it is 48V.

[0084] If the self-test passes, the functional module can be powered. If the self-test fails, an alarm can be issued and overcurrent protection can be triggered.

[0085] In this way, the power supply of each main circuit is safe and reliable. In the case of overcurrent or overvoltage, the power supply of each major component can be turned off in time. There are strict requirements for the power-on timing of each component to avoid damage to sub-components caused by overcurrent shock.

[0086] It should be noted that, for the sake of simplicity of description, the aforementioned method embodiments are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited to the described order of actions, because according to the present application, certain steps can be performed in other orders.

[0087] like Fig.11 , which is a schematic diagram of a robot provided in an embodiment of the present application. Specifically, the robot 11 may include: a processor 110, a memory 111, and a computer program 112 stored in the memory 111 and executable on the processor 110, such as a robot power supply program. When the processor 110 executes the computer program 112, the steps in the above-mentioned power supply method embodiments of the robot are implemented, such as Fig.10 Alternatively, when the processor 110 executes the computer program 112, the functions of each module / unit in the above-mentioned device embodiments are realized, for example Figure 1 The functionality of the first control module is shown.

[0088] The computer program may be divided into one or more modules / units, which are stored in the memory 111 and executed by the processor 110 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program in the robot.

[0089] The robot may include, but is not limited to, a processor 110 and a memory 111. Those skilled in the art will appreciate that Fig.11These are merely examples of robots and do not constitute a limitation of the robot. The robot may include more or fewer components than those shown in the figure, or a combination of certain components, or different components. For example, the robot may also include input and output devices, network access devices, buses, etc.

[0090] The processor 110 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0091] The memory 111 may be an internal storage unit of the robot, such as a hard disk or memory of the robot. The memory 111 may also be an external storage device of the robot, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card (FlashCard), etc. equipped on the robot. Furthermore, the memory 111 may also include both an internal storage unit and an external storage device of the robot. The memory 111 is used to store the computer program and other programs and data required by the robot. The memory 111 may also be used to temporarily store data that has been output or is to be output.

[0092] It should be noted that, for the convenience and brevity of description, the structure of the above robot can also refer to the specific description of the structure in the method embodiment, which will not be repeated here.

[0093] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0094] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0095] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0096] In the embodiments provided in the present application, it should be understood that the disclosed devices / robots and methods can be implemented in other ways. For example, the device / robot embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0097] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0098] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0099] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0100] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A power supply system for a robot, characterized in that: It includes a charging interface board and a power supply board connected to the charging interface board; The power board is provided with a main circuit, a pre-charging circuit, a hard switch connected to the main circuit, a functional module connected to both the main circuit and the pre-charging circuit, and a first control module, the main circuit and the pre-charging circuit are connected in parallel; The first control module is used to control the pre-charging circuit to draw power from the charging interface board to pre-charge the functional module when detecting that the hard switch is turned on; And when the pre-charging is completed, the pre-charging circuit is controlled to be closed, and the main circuit is controlled to draw power from the charging interface board to supply power to the functional module.

2. The power supply system of the robot as claimed in claim 1, characterized in that: The pre-charging loop includes a bypass resistor and a metal oxide semi-conductor field effect transistor, and the first control module is used to confirm that the pre-charging is completed when the voltage difference between the two sides of the metal oxide semi-conductor field effect transistor in the pre-charging loop is less than a difference threshold.

3. The power supply system of the robot as claimed in claim 1, characterized in that: The functional module includes a first functional module connected to the main circuit and the pre-charging circuit through a corresponding DC-DC conversion power supply; The DC-DC conversion power supply is used to convert the voltage input by the main circuit or the pre-charging circuit into the voltage required by the first functional module.

4. The power supply system of the robot as claimed in claim 1, characterized in that: Each of the functional modules is connected to the main circuit and the pre-charging circuit via a corresponding power switch; The first control module is further used to control the power switch according to the control instruction, so as to control the power supply state of the connected functional module.

5. The power supply system of the robot as claimed in claim 4, characterized in that: The functional module includes a second functional module connected to the main circuit and the pre-charging circuit via a corresponding power switch and an independent pre-charging circuit.

6. The power supply system of the robot according to any one of claims 1 to 4, characterized in that: The charging interface board includes a charging circuit; The charging circuit is used to detect the input voltage when detecting that the charger is connected, and is turned on when the input voltage is within a preset voltage range to charge the battery pack or transmit power to the main circuit and the pre-charging circuit.

7. The power supply system of the robot according to any one of claims 1 to 4, characterized in that: The charging interface board is connected to the main circuit and the pre-charging circuit through an electromagnetic compatibility filter.

8. A method for powering a robot, characterized in that: The robot is equipped with a power supply system of the robot, the power supply system includes a charging interface board and a power supply board connected to the charging interface board; the power supply board is provided with a main circuit, a pre-charging circuit, a hard switch connected to the main circuit, a functional module connected to both the main circuit and the pre-charging circuit, and a first control module, the main circuit and the pre-charging circuit are connected in parallel; The power supply method of the robot includes: When it is detected that the hard switch is turned on, controlling the pre-charging circuit to draw power from the charging interface board to pre-charge the functional module; When the pre-charging is completed, the pre-charging circuit is controlled to be closed, and the main circuit is controlled to draw power from the charging interface board to supply power to the functional module.

9. A robot, characterized in that: A power supply system according to any one of claims 1 to 8 is provided.

10. A computer program product, characterized in that The invention comprises a computer program, which realizes the functions of the power supply system according to any one of claims 1 to 8 when being executed.

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