Mobile robot distributed energy supply system and control method thereof

Abstract

A distributed energy supply system for a mobile robot comprises a central energy storage unit, a middle energy storage unit, a tail end energy storage unit, a first-stage power supply network, a first-stage communication network, a second-stage power supply network, a second-stage communication network and an actuator. The middle energy storage unit is electrically connected with the tail end energy storage unit through a secondary power supply network, the middle energy storage unit supplies power to the tail end energy storage unit through the secondary power supply network, the tail end energy storage unit is electrically connected with the actuator, and the tail end energy storage unit is used for supplying power to the actuator. The central energy storage unit carries out data communication transmission with the intermediate energy storage unit through a first-level communication network, and the intermediate energy storage unit carries out data communication transmission with the tail end energy storage unit through a second-level communication network. By adopting the three-layer distributed network energy supply system, the energy supply mode of the mobile robot is optimized, and the energy supply stability and reliability of the mobile robot are improved.

Description

Technical Field

[0001] The present invention belongs to the field of robot energy supply, and in particular relates to a mobile robot distributed energy supply system and a control method thereof. Background Art

[0002] At present, mobile robots at home and abroad mainly adopt the centralized energy supply mode, that is, a single or multiple battery packs are concentrated together as the power supply of the robot to provide power for the operation of each module of the robot. The advantages of this solution are simple structure and easy maintenance, but its disadvantages are also very obvious.

[0003] The main defects of the current robot power supply method are as follows: (1) When a large number of actuators need to be powered at the same time, it is difficult to achieve intelligent power distribution for different parts of the robot; (2) A long power line is required between the execution unit and the battery. When the power supply is high current, the power loss on the line is large. Since the wiring between the execution unit and the battery is long, a thicker power line must be used to reduce the impact of the wire resistance on the power loss and transmission voltage drop. However, a large number of long and thick wires make the robot wiring very difficult. (3) In order to meet the extreme situation where a large number of execution units need to be powered at the same time, the robot power supply capacity must be configured to be large enough, which not only greatly increases the weight and volume of the power supply, but also because the probability of this situation occurring is low and the duration is short, the capacity efficiency of the power supply is low; (4) When the robot's high-power execution unit needs high-power power supply instantly, it cannot obtain sufficient energy due to factors such as the power supply line being too long, insufficient overcurrent capacity of the power supply line, and insufficient instantaneous output power of the power supply, thus affecting the execution capability of the mobile robot. Summary of the invention

[0004] The present invention optimizes and improves the overall structure of the robot energy supply system by adopting a three-layer distributed network energy supply system, solving many problems in the traditional robot energy supply system, such as long wiring, delayed power distribution, and insufficient energy supply to important units.

[0005] To this end, the technical solution adopted in the present invention is: A distributed energy supply system for a mobile robot, comprising: Central energy storage unit, intermediate energy storage unit, terminal energy storage unit, primary power supply network, primary communication network, secondary power supply network, secondary communication network, actuator; The central energy storage unit is electrically connected to the intermediate energy storage unit via a primary power supply network, and the central energy storage unit supplies power to the intermediate energy storage unit via the primary power supply network; The intermediate energy storage unit is electrically connected to the terminal energy storage unit via a secondary power supply network, and the intermediate energy storage unit supplies power to the terminal energy storage unit via the secondary power supply network; The terminal energy storage unit is electrically connected to the actuator, and the terminal energy storage unit is used to supply power to the actuator; The central energy storage unit communicates and transmits data with the intermediate energy storage unit via the primary communication network, and the intermediate energy storage unit communicates and transmits data with the terminal energy storage unit via the secondary communication network.

[0006] The central energy storage unit communicates with the main control computer of the mobile robot via the RS485 bus. The main control computer is used to collect the energy storage status of each part of the energy supply system and issue energy storage distribution adjustment instructions to the central energy storage unit.

[0007] The central energy storage unit includes a lithium battery, a charging interface circuit, a single-chip microcomputer, a battery power detection circuit, and a battery output current detection circuit. The central energy storage unit is electrically connected to an external power supply through the charging interface circuit.

[0008] The intermediate energy storage unit includes: a lithium battery, a first charging switch, a single chip microcomputer, a battery power detection circuit and a battery output current detection circuit.

[0009] The terminal energy storage unit includes: a lithium battery, a second charging switch, a power supply switch, a single-chip microcomputer, a battery power detection circuit and a battery output current detection circuit.

[0010] The first charging switch and the second charging switch both include a PMOS tube and a triode. The single-chip microcomputer of the intermediate energy storage unit controls the power-on and power-off of the primary power supply network by controlling the conduction and disconnection of the first charging switch. The single-chip microcomputer of the terminal energy storage unit controls the power-on and power-off of the secondary power supply network by controlling the conduction and disconnection of the second charging switch.

[0011] The power supply switch includes a PMOS tube and a triode, and the single chip microcomputer of the terminal energy storage unit controls the power supply of the terminal energy storage unit to the actuator by controlling the conduction and disconnection of the power supply switch.

[0012] A control method for a distributed energy supply system of a mobile robot includes a charging link and a use link. In the charging link and the use link, a main control computer dynamically adjusts the power supply priority of each energy storage unit according to the following rules: In the charging phase, the energy storage units with power lower than the preset low threshold are charged first. When the power of multiple energy storage units is lower than the preset low threshold, the charging order is determined according to the task priority of the actuator; In the use phase, priority is given to supplying power to the terminal energy storage units corresponding to the actuators whose current power demand exceeds the preset power threshold. When multiple actuators require power at the same time, the power supply path is dynamically allocated according to the urgency of the task. When the power level of a certain energy storage unit is higher than a preset maintenance threshold, the main control computer switches the power supply target to the energy storage unit or actuator of the next priority.

[0013] The charging process includes the following steps: The central energy storage unit obtains energy from the external power supply through the charging interface, and the main control computer obtains the power information of each energy storage unit in real time through the primary communication network and the secondary communication network; The main control computer dynamically adjusts the charging priority of each energy storage unit, and preferentially sends a charging start instruction to the high-priority energy storage unit, and its corresponding charging switch remains in the open state for continuous charging; When the power level of the high-priority energy storage unit reaches a preset high threshold, the main control computer sends a charging start instruction to the low-priority energy storage unit, and its corresponding charging switch is turned on for charging.

[0014] The use process includes the following steps: The main control computer obtains the power information of each energy storage unit in real time through the primary communication network and the secondary communication network; The main control computer dynamically adjusts the power supply priority of each energy storage unit and sends a control instruction to the central energy storage unit, so that the central energy storage unit preferentially supplies power to the high-priority intermediate energy storage unit through the primary power supply network, and its corresponding charging switch remains in the open state; When the power level of the high-priority intermediate energy storage unit is higher than the preset maintenance threshold, the main control computer controls the central energy storage unit to supply power to the low-priority intermediate energy storage unit; The intermediate energy storage unit dynamically adjusts the power supply priority of its corresponding terminal energy storage unit, and preferentially supplies power to the high-priority terminal energy storage unit through the secondary power supply network, and its corresponding charging switch remains in the open state; When the power level of the high-priority terminal energy storage unit is higher than a preset maintenance threshold, the intermediate energy storage unit supplies power to the low-priority terminal energy storage unit.

[0015] The beneficial effects of the present invention are: The present invention shortens the distance between the energy supply unit and the actuator at the direct power supply end, thereby greatly reducing line losses and increasing the output power of the actuator. The design of the distributed energy supply unit optimizes the energy configuration of the mobile robot and avoids the heat generated by the battery power supply being concentrated in one part, which is beneficial to the heat dissipation of the battery, and enhances the durability of the battery and the safety of the robot during use. The multi-level energy supply network also reduces the transmission current in the intermediate links of the energy supply system, making it possible to use thinner power lines for the intermediate power supply network wiring, greatly facilitating the wiring design of the power supply line. The design of the multi-level communication network realizes real-time monitoring and optimized control of the power distribution status of the mobile robot energy supply system, and can provide emergency power supply to the execution units that are in urgent need of electricity, thereby improving the stability and reliability of the mobile robot's energy supply. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the hierarchical distribution between various power supply units of the present invention.

[0017] Figure 2 It is a schematic diagram of the network hardware structure of the overall energy supply system of the present invention.

[0018] Figure 3 This is a schematic diagram of the structure of the central energy storage unit.

[0019] Figure 4 This is a circuit hardware schematic diagram of the central energy storage unit.

[0020] Figure 5 It is a structural schematic diagram of the intermediate energy storage unit.

[0021] Figure 6 This is the circuit hardware schematic diagram of the intermediate energy storage unit.

[0022] Figure 7 It is a schematic diagram of the structure of the terminal energy storage unit.

[0023] Figure 8 This is the circuit hardware schematic diagram of the terminal energy storage unit.

[0024] Fig. 9 The present invention is a flow chart of the charging process in a control method of a distributed energy supply system for a mobile robot.

[0025] Fig.10 The present invention is a flow chart showing the use of links in a control method for a distributed energy supply system of a mobile robot.

[0026] In the figure: 1. Central energy storage unit; 2. Intermediate energy storage unit; 21. First charging switch; 3. Terminal energy storage unit; 31. Second charging switch; 32. Power supply switch; 4. Main control computer; 5. Primary power supply network; 6. Primary communication network; 7. Secondary power supply network; 8. Secondary communication network; 9. Actuator. DETAILED DESCRIPTION

[0027] The present invention is described in detail below with reference to the accompanying drawings.

[0028] like Figure 1 , Figure 2 A distributed energy supply system for a mobile robot adopts a three-layer distributed power supply network architecture as a whole. The energy supply system includes a central energy storage unit 1, an intermediate energy storage unit 2 and a terminal energy storage unit 3. The central energy storage unit 1 supplies power to the intermediate energy storage unit 2 through a primary power supply network 5, and the intermediate energy storage unit 2 supplies power to the terminal energy storage unit 3 through a secondary power supply network 7. The terminal energy storage unit 3 is connected to each actuator 9 of the robot and is used to supply power to each actuator 9 of the robot. The intermediate energy storage unit 2 communicates with the central energy storage unit 1 through a primary communication network 6, and the central energy storage unit 1 communicates through a secondary communication network 8.

[0029] Among them, the central energy storage unit 1 integrates a rechargeable battery with a large capacity as the total reserve power supply of the robot; each intermediate energy storage unit 2 is distributed in various local areas including the head, legs, hands and other areas of the robot, and each intermediate energy storage unit 2 is integrated with a rechargeable battery with a relatively small capacity as a backup energy storage power supply in the local area of ​​the robot; the terminal energy storage unit 3 is deployed together with each actuator 9 of the robot, and has a battery power supply with a battery capacity matching the power of the corresponding actuator 9 integrated therein, which directly powers the actuator 9.

[0030] Since the robot adopts a distributed energy storage structure, the power consumption of each actuator 9 of the robot will be directly supplied by the corresponding terminal energy storage unit 3. This direct power supply structure greatly shortens the connection line between the actuator 9 and the power supply unit. The line resistance and line voltage drop of the corresponding power supply line are greatly reduced compared with the traditional power supply method, thereby greatly reducing the loss of electric energy between the power supply lines. This power supply structure ensures that as long as there is sufficient electric energy in the terminal energy storage unit 3, the actuator 9 will be able to obtain the maximum power output in an instant. Once the power of the terminal energy storage unit 3 drops to a certain threshold, the terminal energy storage unit 3 will automatically obtain power from its corresponding intermediate energy storage unit 2. Since the charging process can usually be completed in a long time, it can be charged with a smaller current, thereby reducing the power loss in the line. When the power in the intermediate energy storage unit 2 drops to a certain threshold, the central energy storage unit 1 will charge it. Similarly, since the charging process can usually be completed in a long time, it can also be charged with a smaller current, thereby reducing the power loss in the line. Compared with a system with a single centralized energy supply architecture of total battery capacity, the distributed architecture can effectively reduce line power loss in the circuit, reduce the wire diameter required for wiring, and at the same time improve the instantaneous power output capability of the actuator 9.

[0031] In addition, in the distributed energy supply system, each energy storage unit contains not only a battery module, but also an integrated microcontroller module, a power management interface module and a communication interface module, so that the real-time intelligent distribution of the robot's energy supply can be achieved through the communication network and the intelligent control system. For example, when the robot needs to perform large computing power operations, the distributed system can prioritize the allocation of the power of the central energy storage unit 1 to the intermediate energy storage unit 2 located near the main control computer 4, so as to prioritize the main control computer 4 to obtain sufficient power to support its operation; when the robot needs to move quickly, the intermediate energy storage unit 2 near the hand and leg will also increase the energy supply to the terminal energy storage unit 3 connected to the hand and leg actuator 9, and prioritize sufficient power for the robot's hand and leg actuators 9.

[0032] like Figure 3 , Figure 4 As shown, the circuit system of the central energy storage unit 1 includes a lithium battery, a charging interface circuit, a single-chip microcomputer, a battery power detection circuit, and a battery output current detection circuit. Among them, the external power supply charges the lithium battery through the charging interface circuit, and the lithium battery charges the intermediate energy storage unit 2 through the primary power supply network 5. The single-chip microcomputer communicates with the robot main control computer 4 through the RS485 bus, receives the energy storage distribution adjustment instruction sent by the robot main control computer 4, and sends the energy storage distribution status of the energy storage system to the robot main control computer 4.

[0033] The single-chip microcomputer is connected to the primary communication network 6 through the CAN bus, communicates with the intermediate energy storage unit 2, sends energy storage distribution adjustment instructions to the intermediate energy storage unit 2, and collects the energy storage distribution status of the area where the intermediate energy storage unit 2 is located. The battery power detection circuit includes an analog-to-digital converter. The voltage signal of the lithium battery is input into the single-chip microcomputer after analog-to-digital conversion. After the single-chip microcomputer inputs the real-time digitized voltage signal into the main control computer 4, the main control computer 4 can obtain the remaining power of the lithium battery of the central energy storage unit 1 through the pre-set relationship between power and voltage fitting curve. The battery output current detection circuit includes a current sensor. When the lithium battery charges the intermediate energy storage unit 2 through the primary power supply network 5, the current sensor also collects the size of the lithium battery discharge current at this time in real time, and outputs it to the single-chip microcomputer after analog-to-digital conversion through the analog-to-digital converter.

[0034] like Figure 5 , Figure 6As shown, the circuit system of the intermediate energy storage unit 2 includes a lithium battery, a first charging switch 21, a single-chip microcomputer, a battery power detection circuit and a battery output current detection circuit. Among them, the first charging switch 21 is controlled by the single-chip microcomputer. When the first charging switch 21 is closed, the central energy storage unit 1 will charge the lithium battery of the intermediate energy storage unit 2 through the primary power supply network 5. When the first charging switch 21 is disconnected, the central energy storage unit 1 stops charging the lithium battery of the intermediate energy storage unit 2, thereby adjusting the power distribution of the intermediate energy storage unit 2. The first charging switch 21 includes a PMOS tube and a triode. When the single-chip microcomputer outputs a high-level signal, the triode is turned on. At this time, the gate of the PMOS tube is pulled down to GND. At this time, the PMOS tube is turned on, and the central energy storage unit 1 can charge the lithium battery of the intermediate energy storage unit 2 through the primary power supply network 5. When the single-chip microcomputer outputs a low-level signal, the triode is turned off, and the PMOS tube is restored to a high resistance value through the pull-up resistor. At this time, the PMOS tube is disconnected and charging stops.

[0035] The single-chip microcomputer is connected to the primary communication network 6 via the CAN bus, communicates with the central energy storage unit 1, receives the energy storage distribution adjustment instruction sent by the central energy storage unit 1, and sends the energy storage distribution status in the area of ​​the intermediate energy storage unit 2 to the central energy storage unit 1. The single-chip microcomputer is connected to the secondary communication network 8 via another CAN bus, communicates with the terminal energy storage unit 3 in the area, sends the energy storage adjustment instruction to the terminal energy storage unit 3, and collects the energy storage status of the terminal energy storage unit 3. The voltage signal and output current signal of the lithium battery of the intermediate energy storage unit 2 are output to the single-chip microcomputer through the battery power detection circuit and the battery output current detection circuit, and then transmitted to the single-chip microcomputer of the central energy storage unit 1 through the primary communication network 6 and finally transmitted to the main control computer 4.

[0036] like Figure 7 , Figure 8 As shown, the circuit system of the terminal energy storage unit 3 includes a lithium battery, a second charging switch 31, a power switch 32, a single-chip microcomputer, a battery power detection circuit and a battery output current detection circuit. Among them, the second charging switch 31 and the power switch 32 are both controlled by the single-chip microcomputer. When the charging switch is closed, the intermediate energy storage unit 2 will charge the lithium battery of the terminal energy storage unit 3 through the secondary power supply network 7. When the second charging switch 31 is disconnected, the intermediate energy storage unit 2 stops charging the lithium battery of the terminal energy storage unit 3, thereby adjusting the power distribution of the terminal energy storage unit 3. At the same time, the single-chip microcomputer controls the power supply state of the actuator 9 by controlling the power switch 32. The second charging switch 31 and the power switch 32 of the terminal energy storage unit 3 have the same structure as the charging switch of the intermediate energy storage unit 2, both of which include PMOS tubes and triodes. The single-chip microcomputer can turn on or off the switch by outputting a high level or a low level, which will not be repeated here.

[0037] The single-chip microcomputer is connected to the secondary communication network through the CAN bus, communicates with the intermediate energy storage unit 2, receives the energy storage adjustment instruction sent by the intermediate energy storage unit 2, and sends the energy storage status of the terminal energy storage unit 3 to the intermediate energy storage unit 2. The voltage signal and output current signal of the lithium battery of the terminal energy storage unit 3 are output to the single-chip microcomputer through the battery power detection circuit and the battery output current detection circuit, and then transmitted to the single-chip microcomputer of the intermediate energy storage unit 2 through the secondary communication network and finally transmitted to the main control computer 4.

[0038] The control link of the present invention includes a charging link and a use link. The charging link is the control link for charging before the robot is started, and the use link is the control link for the allocation of electric energy during the use of the robot after it is started. The charging link and the use link both adjust the energy supply priority of each energy storage unit through the main control computer 4. The rules for the main control computer 4 to adjust the energy supply priority of each energy storage unit are as follows: in the charging link, priority is given to charging energy storage units with a power level lower than a preset low threshold. When the power levels of multiple energy storage units are all lower than the preset low threshold, the charging order is determined according to the task priority of the actuator 9; in the use link, priority is given to powering the terminal energy storage unit 3 corresponding to the actuator 9 whose current power demand exceeds the preset power threshold. When multiple actuators 9 require power at the same time, the power supply path is dynamically allocated according to the urgency of the task; when the power level of a certain energy storage unit is higher than the preset maintenance threshold, the main control computer 4 switches the power supply target to the energy storage unit or actuator 9 of the next priority.

[0039] like Fig. 9 The charging process includes steps S901 to S903, and the detailed steps are as follows.

[0040] Step S901: the central energy storage unit 1 obtains energy from an external power source through a charging interface, and the main control computer 4 simultaneously obtains the power information of each energy storage unit in real time through the primary communication network 6 and the secondary communication network 8.

[0041] Step S902: During the charging process, the distribution of charging power in various parts of the robot will be effectively monitored through the communication network. The main control computer 4 dynamically adjusts the charging priority of each energy storage unit, and preferentially sends charging start instructions to high-priority energy storage units, and the corresponding charging switches remain in the on state for continuous charging.

[0042] Step S903: The main control computer 4 sends charging signals to the single-chip microcomputers at each level in turn according to the charging priority of different parts as needed, so as to turn on the charging switches at each level. The main control computer 4 preferentially sends charging signals to the single-chip microcomputers of the high-priority energy storage units, and turns on their corresponding charging switches at the same time to ensure that the energy storage units can be charged as soon as possible. When the power of the high-priority energy storage unit reaches the preset high threshold, the main control computer 4 sends a charging start instruction to the low-priority energy storage unit, and its corresponding charging switch is turned on for charging until the lithium batteries of all energy storage units are fully charged.

[0043] During the charging process, the distribution of charging power in various parts of the robot will be effectively monitored through the communication network. The charging priority of different parts can be determined according to needs. By disconnecting the charging switch of the low-priority energy storage unit and closing the charging switch of the high-priority energy storage unit, the charging sequence of different parts of the robot can be effectively controlled to ensure that the high-priority energy storage unit has sufficient power at the same time to meet the robot's higher-priority task requirements.

[0044] like Fig.10 The use process includes steps S1001 to S1005, and the detailed steps are as follows.

[0045] Step S1001: the main control computer 4 obtains the power information of each energy storage unit in real time through the primary communication network 6 and the secondary communication network 8.

[0046] Step S1002: The main control computer 4 dynamically adjusts the power supply priority of each energy storage unit, and sends a control instruction to the central energy storage unit 1, so that the central energy storage unit 1 preferentially supplies power to the high-priority intermediate energy storage unit 2 through the primary power supply network 5, so that the corresponding charging switch remains in the open state.

[0047] Step S1003 : When the power level of the high-priority intermediate energy storage unit 2 is higher than the preset maintenance threshold, the main control computer 4 controls the central energy storage unit 1 to supply power to the low-priority intermediate energy storage unit 2 .

[0048] Step S1004: the intermediate energy storage unit 2 dynamically adjusts the power supply priority of its corresponding terminal energy storage unit 3, and preferentially supplies power to the high-priority terminal energy storage unit 3 through the secondary power supply network 7, and its corresponding charging switch remains in the on state.

[0049] Step S1005 : when the power level of the high-priority terminal energy storage unit 3 is higher than the preset maintenance threshold, the intermediate energy storage unit 2 supplies power to the low-priority terminal energy storage unit 3 .

[0050] During use, the distributed energy supply system can also control the charging switches of each energy storage unit according to the energy supply priority of different parts of the robot, so that the central energy storage unit 1 can replenish electric energy to the intermediate energy storage unit 2 with a higher priority, and the intermediate energy storage unit 2 can replenish electric energy to the terminal energy storage unit 3 with a higher priority, ensuring that the actuator 9 with a higher priority obtains sufficient power support.

[0051] The above content describes the specific features and implementation scheme of the present invention. It should be noted that the specific implementation of the present invention is not limited to the above-mentioned methods. As long as various non-substantial improvements are made using the technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the scope of protection of the invention. The scope of protection required by the present invention is defined by the claims and their equivalents.

Claims

1. A distributed energy supply system for a mobile robot, characterized in that: include: Central energy storage unit, intermediate energy storage unit, terminal energy storage unit, primary power supply network, primary communication network, secondary power supply network, secondary communication network, actuator; The central energy storage unit is electrically connected to the intermediate energy storage unit via a primary power supply network, and the central energy storage unit supplies power to the intermediate energy storage unit via the primary power supply network; The intermediate energy storage unit is electrically connected to the terminal energy storage unit via a secondary power supply network, and the intermediate energy storage unit supplies power to the terminal energy storage unit via the secondary power supply network; The terminal energy storage unit is electrically connected to the actuator, and the terminal energy storage unit is used to supply power to the actuator; The central energy storage unit communicates and transmits data with the intermediate energy storage unit via the primary communication network, and the intermediate energy storage unit communicates and transmits data with the terminal energy storage unit via the secondary communication network.

2. A mobile robot distributed energy supply system according to claim 1, characterized in that: The central energy storage unit communicates with the main control computer of the mobile robot via the RS485 bus. The main control computer is used to collect the energy storage status of each part of the energy supply system and issue energy storage distribution adjustment instructions to the central energy storage unit.

3. A mobile robot distributed energy supply system according to claim 1, characterized in that: The central energy storage unit includes a lithium battery, a charging interface circuit, a single-chip microcomputer, a battery power detection circuit, and a battery output current detection circuit. The central energy storage unit is electrically connected to an external power supply through the charging interface circuit.

4. A mobile robot distributed energy supply system according to claim 1, characterized in that: The intermediate energy storage unit includes: a lithium battery, a first charging switch, a single chip microcomputer, a battery power detection circuit and a battery output current detection circuit.

5. A mobile robot distributed energy supply system according to claim 4, characterized in that: The terminal energy storage unit includes: a lithium battery, a second charging switch, a power supply switch, a single-chip microcomputer, a battery power detection circuit and a battery output current detection circuit.

6. A mobile robot distributed energy supply system according to claim 5, characterized in that: The first charging switch and the second charging switch both include a PMOS tube and a triode. The single-chip microcomputer of the intermediate energy storage unit controls the power-on and power-off of the primary power supply network by controlling the conduction and disconnection of the first charging switch. The single-chip microcomputer of the terminal energy storage unit controls the power-on and power-off of the secondary power supply network by controlling the conduction and disconnection of the second charging switch.

7. A mobile robot distributed energy supply system according to claim 5, characterized in that: The power supply switch includes a PMOS tube and a triode, and the single chip microcomputer of the terminal energy storage unit controls the power supply of the terminal energy storage unit to the actuator by controlling the conduction and disconnection of the power supply switch.

8. A control method for a mobile robot distributed energy supply system, applied to a mobile robot distributed energy supply system according to any one of claims 1 to 7, characterized in that: include: Charging stage and use stage, in which the main control computer dynamically adjusts the power supply priority of each energy storage unit according to the following rules: In the charging phase, the energy storage units with power lower than the preset low threshold are charged first. When the power of multiple energy storage units is lower than the preset low threshold, the charging order is determined according to the task priority of the actuator; In the use phase, priority is given to supplying power to the terminal energy storage units corresponding to the actuators whose current power demand exceeds the preset power threshold. When multiple actuators require power at the same time, the power supply path is dynamically allocated according to the urgency of the task; When the power level of a certain energy storage unit is higher than a preset maintenance threshold, the main control computer switches the power supply target to the energy storage unit or actuator of the next priority.

9. The control method of a mobile robot distributed energy supply system according to claim 8, characterized in that: The charging process includes the following steps: The central energy storage unit obtains energy from the external power supply through the charging interface, and the main control computer obtains the power information of each energy storage unit in real time through the primary communication network and the secondary communication network; The main control computer dynamically adjusts the charging priority of each energy storage unit, and preferentially sends a charging start instruction to the high-priority energy storage unit, and its corresponding charging switch remains in the open state for continuous charging; When the power level of the high-priority energy storage unit reaches a preset high threshold, the main control computer sends a charging start instruction to the low-priority energy storage unit, and its corresponding charging switch is turned on for charging.

10. The control method of a mobile robot distributed energy supply system according to claim 8, characterized in that: The use process includes the following steps: The main control computer obtains the power information of each energy storage unit in real time through the primary communication network and the secondary communication network; The main control computer dynamically adjusts the power supply priority of each energy storage unit and sends a control instruction to the central energy storage unit, so that the central energy storage unit preferentially supplies power to the high-priority intermediate energy storage unit through the primary power supply network, and its corresponding charging switch remains in the open state; When the power level of the high-priority intermediate energy storage unit is higher than the preset maintenance threshold, the main control computer controls the central energy storage unit to supply power to the low-priority intermediate energy storage unit; The intermediate energy storage unit dynamically adjusts the power supply priority of its corresponding terminal energy storage unit, and preferentially supplies power to the high-priority terminal energy storage unit through the secondary power supply network, and its corresponding charging switch remains in the open state; When the power level of the high-priority terminal energy storage unit is higher than a preset maintenance threshold, the intermediate energy storage unit supplies power to the low-priority terminal energy storage unit.

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